Journal article
A Simple Technique to Passively Gravity-Balance Articulated Mechanisms
Journal of mechanical design (1990), v 117(4), pp 655-658
01 Dec 1995
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
A simple method to counter the effects of gravity in articulated mechanisms is proposed. The scheme uses kinematics and linear springs to produce a nonlinear restoring force to oppose the gravitational moment. The method equilibrates a rotational mechanism for all postures. A solution for one link is obtained then general equations for n links are derived. The method is simpler than previous schemes and has applications in robotics, orthotics and a host of everyday mechanisms.
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Details
- Title
- A Simple Technique to Passively Gravity-Balance Articulated Mechanisms
- Creators
- T Rahman - University of Delaware/A.I. duPont Institute, Applied Science and Engineering Laboratories, A.I. duPont Institute, 1600 Rockland Road, P.O. Box 269, Wilmington, DE 19899R Ramanathan - DuPontR Seliktar - Drexel UniversityW Harwin - University of Delaware/A.I. duPont Institute, Applied Science and Engineering Laboratories, A.I. duPont Institute, 1600 Rockland Road, P.O. Box 269, Wilmington, DE 19899
- Publication Details
- Journal of mechanical design (1990), v 117(4), pp 655-658
- Publisher
- ASME
- Resource Type
- Journal article
- Language
- English
- Academic Unit
- School of Biomedical Engineering, Science, and Health Systems; [Retired Faculty]
- Web of Science ID
- WOS:A1995TY06400028
- Scopus ID
- 2-s2.0-0029510995
- Other Identifier
- 991019173443904721
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- Collaboration types
- Domestic collaboration
- Web of Science research areas
- Engineering, Mechanical