IEEE - Institute of Electrical and Electronics Engineers, Inc. - A passive weight compensation mechanism with a non-circular pulley and a spring

2010 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Endo, G. ; Yamada, H. ; Yajima, A. ; Ogata, M. ; Hirose, S.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2010
Conference Location: Anchorage, AK, USA, USA
Conference Date: 3 May 2010
Page(s): 3,843 - 3,848
ISBN (CD): 978-1-4244-5040-4
ISBN (Paper): 978-1-4244-5038-1
ISSN (CD): 1050-4729
ISSN (Paper): 1050-4729
DOI: 10.1109/ROBOT.2010.5509797
Regular:

We propose a new weight compensation mechanism with a non-circular pulley and a spring. We show the basic principle and numerical design method to derive the shape of the non-circular pulley.... View More

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