< Terug naar vorige pagina

Publicatie

Prismatic gravity compensator for variable payloads

Tijdschriftbijdrage - Tijdschriftartikel

Gravity compensators are passive devices that can lower the energy consumption of lifting systems by reducing the force/torque required from human users or actuators. This paper presents a prismatic gravity compensator for cranes, gantry, and other lifting systems. It is capable of statically balancing payloads between 0.8 kg and 8.7 kg over a stroke of800 mm. The compensator is made of two modules: a constant force and a variable force module. The selection process for the components of each module is presented and a model of the compensator and its modules is developed. The impact of friction is also studied, and a strategy is proposed to still achieve balancing for various payloads.
Tijdschrift: IEEE Robotics and Automation Letters
ISSN: 2377-3766
Issue: 2
Volume: 7
Pagina's: 3749-3756
Toegankelijkheid:Closed