A novel adaptive balance-drive mechanism for industrial robots using a series elastic actuator

References

• Arakelian, V. 2016. “Gravity Compensation in Robotics.” Advanced Robotics 30 (2): 79–96. doi:10.1080/01691864.2015.1090334.
   Web of Science ®Google Scholar
• Barents, R., M. Schenk, W. D. van Dorsser, B. M. Wisse, and J. L. Herder. 2011. “Spring-to-spring Balancing as Energy-free Adjustment Method in Gravity Equilibrators.” Journal of Mechanical Design 133 (6): 061010. doi:10.1115/1.4004101.
   Web of Science ®Google Scholar
• Bayer, A., and G. Merk. 2011. “Industrial Robot with a Weight Balancing System.” EP Patent, 2.
   Google Scholar
• Briot, S., and V. Arakelian. 2015. “A New Energy-free Gravity-compensation Adaptive System for Balancing of 4-DOF Robot Manipulators with Variable Payloads.” In Proceedings of the Fourteenth International Federation for the Promotion of Mechanism and Machine Science World Congress (2015 IFToMM World Congress), Taipei, Taiwan.
   Google Scholar
• Ciupitu, L. 2018. “Adaptive Balancing of Robots and Mechatronic Systems.” Robotics 7 (4): 68. doi:10.3390/robotics7040068.
   Web of Science ®Google Scholar
• Deepak, S. R., and G. K. Ananthasuresh. 2012. “Perfect Static Balance of Linkages by Addition of Springs but Not Auxiliary Bodies.” Journal of Mechanisms and Robotics 4 (2): 021014. doi:10.1115/1.4006521.
   Google Scholar
• Dunlop, G. R., and T.P. Jones. 1996. “Gravity Counter Balancing of a Parallel Robot for Antenna Aiming.” In 6th ISRAM, 153-158, Montpellier, USA.
   Google Scholar
• Gosselin, C. M. 2008. Smart Devices and Machines for Advanced Manufacturing, Chapter Gravity Compensation, Static Balancing and Dynamic Balancing of Parallel Mechanisms. New York, NY: Springer.
   Google Scholar
• Kim, S. H., B. Yoon, H. J. Lee, S. Kim, K. S. Kim, J. C. Kim, and T. Y. Noh. 2014. “Portable Serial Robot Manipulator with Distributed Actuation Mechanism.” In 2014 14th International Conference on Control, Automation and Systems (ICCAS 2014), 1590–1593, Seoul, South Korea.
   Google Scholar
• Klimchik, A., S. Caro, Y. Wu, D. Chablat, B. Furet, and A. Pashkevich. 2014. “Stiffness Modeling of Robotic Manipulator with Gravity Compensator.” In Computational Kinematics, 185–192.
   Google Scholar
• Lacasse, M. A., G. Lachance, J. Boisclair, J. Ouellet, and C. Gosselin. 2013. “On the Design of a Statically Balanced Serial Robot Using Remote Counterweights.” In 2013 IEEE International Conference on Robotics and Automation, 4189–4194, Karlsruhe, Germany.
   Google Scholar
• Lange, F., W. Bertleff, and M. Suppa. 2013. “Force and Trajectory Control of Industrial Robots in Stiff Contact.” In 2013 IEEE International Conference on Robotics and Automation, 2927–2934, Karlsruhe, Germany.
   Google Scholar
• Lin, P. Y., W. B. Shieh, and D. Z. Chen. 2011. “Design of Statically Balanced Planar Articulated Manipulators with Spring Suspension.” IEEE Transactions on Robotics 28 (1): 12–21. doi:10.1109/TRO.2011.2169633.
   Web of Science ®Google Scholar
• Nikoobin, A., M. Moradi, and A. Esmaili. 2013. “Optimal Spring Balancing of Robot Manipulators in Point-to-Point Motion.” Robotica 31 (4): 611–621. doi:10.1017/S026357471200063X.
   Google Scholar
• Paine, N., S. Oh, and L. Sentis. 2013. “Design and Control Considerations for High-performance Series Elastic Actuators.” IEEE/ASME Transactions on Mechatronics 19 (3): 1080–1091. doi:10.1109/TMECH.2013.2270435.
   Web of Science ®Google Scholar
• Persson, J. A., X. Feng, D. Wappling, and J. Ölvander. 2014. “Multi-disciplinary and Multi-objective Optimization of a Hydro-pneumatic Balancing Cylinder for an Industrial Robot.” In ASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis, V003T17A011, American Society of Mechanical Engineers Digital Collection. Copenhagen, Denmark.
   Google Scholar
• Persson, J. A., F. Xiaolong, W. Daniel, and J. Ölvander. 2015. “A Framework for Multidisciplinary Optimization of A Balancing Mechanism for an Industrial Robot.” Journal of Robotics 2015: 1–8. doi:10.1155/2015/389769.
   Web of Science ®Google Scholar
• Pratt, J., B. Krupp, and C. Morse. 2002. “Series Elastic Actuators for High Fidelity Force Control. Industrial Robot.” An International Journal 29 (3): 234–241.
   Google Scholar
• Quaglia, G., and Z. Yin. 2013. “A Balancing Mechanism for an Anthropomorphic Robot.” In Advanced Materials Research 774: 1397–1403. doi:10.4028/www.scientific.net/AMR.774-776.1397.
   Google Scholar
• Shieh, W. B., and B. S. Chou. 2015. “A Novel Spring Balancing Device on the Basis of A Scotch Yoke Mechanism.” In Proceedings of the 14th IFToMM World Congress, 206–212. doi:10.1177/1753193414558542.
   Google Scholar
• Takesue, N., T. Ikematsu, H. Murayama, and H. Fujimoto. 2011. “Design and Prototype of Variable Gravity Compensation Mechanism (VGCM).” Journal of Robotics and Mechatronics 23 (3): 249–256. doi:10.20965/jrm.2011.p0249.
   Google Scholar
• Wang, Y. S., L. Z. Ge, P. C. Xie, and Y. X. Gai. 2011. “Dynamic Simulation and Gravity Balancing Optimization of Spot Welding Robot Based on RecurDyn.” In 2011 IEEE International Conference on Mechatronics and Automation, 1905–1910, Beijing, China.
   Google Scholar
• Weström, J., X. Feng, H. Andersson, and S. Lunderius. 2012. “Optimal Spring Balancing Cylinder Design of an Industrial Robot Using Multi-disciplinary and Multi-objective Optimization.” In ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, 133–139, American Society of Mechanical Engineers. doi:10.1177/1753193412451383.
   Google Scholar
• Whitney, J. P., and J. K. Hodgins. 2014. “A Passively Safe and Gravity-counterbalanced Anthropomorphic Robot Arm.” In 2014 IEEE International Conference on Robotics and Automation (ICRA), 6168–6173, Hong Kong, China.
   Google Scholar