Float arm V: hyper-redundant manipulator with wire-driven weight-compensation mechanism
Float arm V: hyper-redundant manipulator with wire-driven weight-compensation mechanism
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浮臂 V：具有线驱动重量补偿机构的超冗余机械手
DOI：
10.1109/robot.2003.1241623
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
Atsuo Haishi
中科院分区：
文献类型：
--
作者：
S. Hirose;T. Ishii;Atsuo Haishi
本文提出了一种绳牵引式重量补偿机构。该机构由一个具有延伸部分和有线双滑轮的双连杆机构组成。与其他解决方案相比，这是一种更轻的解决方案，因为没有使用弹簧。下面将详细描述这种新的重量补偿机制和具有这种新机制的浮动臂V的性能。
In this paper, the wire-driven weight-compensation mechanism is proposed. This mechanism consists of a parallelogram linkage mechanism that has an extended portion with the wired double pulley. This is a lighter solution compared to others since no springs are utilized. Below, a detailed description of this new weight-compensation mechanism and performances of Float Arm V with this new mechanism are given.