{"title":"A novel slider-crank spring gravity balance module for 1-DOF rotary link and its application to serial manipulators","authors":"Cheng-Hsuan Hsu, Chi-Shiun Jhuang, Dar-Zen Chen","doi":"10.1016/j.mechmachtheory.2025.105991","DOIUrl":null,"url":null,"abstract":"<div><div>This paper presents a slider-crank spring gravity balance module for a rotary link and its application to serial manipulators. The spring is arranged in a slider-crank mechanism, its elastic energy is a quadratic function of the crank angle. The gravitational energy of a rotary link can be expressed as a quadratic function of half the link angle. It shows energies matched when the crank angle is half the link angle with a phase difference and the spring stiffness is a function of the link mass. Thus, the balance module is formed. In a serial manipulator, the gravitational energy of a remote link is expressed as the sum of quadratic functions of the angle of itself and preceding links. It can be matched by the elastic energy of the modules on the link itself and the preceding links respectively. Thus, the balance module can be applied to serial manipulators. Torque measurement tests for balancing a rotary link and a 2-DOF serial manipulator by balance modules are performed and show the driving torques are reduced by over 90 % by the balance module.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"209 ","pages":"Article 105991"},"PeriodicalIF":4.5000,"publicationDate":"2025-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechanism and Machine Theory","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0094114X25000801","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
引用次数: 0
Abstract
This paper presents a slider-crank spring gravity balance module for a rotary link and its application to serial manipulators. The spring is arranged in a slider-crank mechanism, its elastic energy is a quadratic function of the crank angle. The gravitational energy of a rotary link can be expressed as a quadratic function of half the link angle. It shows energies matched when the crank angle is half the link angle with a phase difference and the spring stiffness is a function of the link mass. Thus, the balance module is formed. In a serial manipulator, the gravitational energy of a remote link is expressed as the sum of quadratic functions of the angle of itself and preceding links. It can be matched by the elastic energy of the modules on the link itself and the preceding links respectively. Thus, the balance module can be applied to serial manipulators. Torque measurement tests for balancing a rotary link and a 2-DOF serial manipulator by balance modules are performed and show the driving torques are reduced by over 90 % by the balance module.
期刊介绍:
Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal.
The main topics are:
Design Theory and Methodology;
Haptics and Human-Machine-Interfaces;
Robotics, Mechatronics and Micro-Machines;
Mechanisms, Mechanical Transmissions and Machines;
Kinematics, Dynamics, and Control of Mechanical Systems;
Applications to Bioengineering and Molecular Chemistry