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Design of an antagonistically counter-balancing parallel mechanism
- Issue Date
- Nov-2013
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Keywords
- Stiffness model; Translational DOF; Stiffness matrix; Parallel mechanisms; Mechanisms; Computer simulation; System stability; Closed chain mechanism; Open-loop stability; Intelligent robots
- Citation
- IEEE International Conference on Intelligent Robots and Systems, pp 2882 - 2887
- Pages
- 6
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE International Conference on Intelligent Robots and Systems
- Start Page
- 2882
- End Page
- 2887
- ISSN
- 2153-0858
- Abstract
- Much attention has not been paid to analysis of the open-loop stability for gravity counter-balancing of parallel mechanisms or closed-chain mechanisms. The open-loop stability is crucial especially in passively counter-balanced mechanisms where no actuators are involved. Passive hands-on device is such an example. A general stiffness model is derived for general closed-chain mechanism including counter-weight model. As a measure of the open-loop stability, we employ the determinant of the stiffness matrix. A parallel mechanism having 3 translational DOF (degree of freedom) is employed as an exemplary device. An antagonistically counter-balancing is found the most stable method. We conduct dynamic simulation and experiment to confirm the open-loop stability of the system. © 2013 IEEE.
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)