Albert Demian

This paper discusses the design of an adjustable force compensator for a spherical wrist dedicated to robot milling and incremental sheet metal forming applications. The design of the compensator is modular and can be introduced to any existing manipulator design as a single multi-body auxiliary system connected with simple mechanical transmission mechanisms to the actuators. The paper considers the design of the compensator as an arrangement of elastic springs mounted on moving pivots. The moving pivots are responsible for adjusting the stiffness of the wrist-compensator coupling. Special attention is given to two compensation schemes in which the value of the external force can be known or unknown, respectively. The simulation results show that the analytical derivation of the compensator leads the main actuators to spend zero effort to support the external force.

This paper is devoted to the design of gravity compensators for prismatic joints. The proposed compensator depends on the suspension of linear springs together with mechanical transmission mechanisms to achieve the constant application of force along the sliding span of the joint. The use of self-locking worm gears ensures the isolation of spring forces. A constantforce mechanism is proposed to generate counterbalance force along the motion span of the prismatic joint. The constant-force mechanism is coupled with a pin-slot mechanism to transform to adjust the spring tension to counterbalance the effect of rotation of the revolute joint. Two springs were used to counterbalance the gravity torque of the revolute joint. One of the springs has a moving pin-point that is passively adjusted in proportion with the moving mass of the prismatic joint. To derive the model of the compensator, a 2-DoF system which consists of a revolute and a prismatic joint is investigated. In contrast to previous work, the proposed compensator considers the combined motion of rotation and translation. The obtained results were tested in simulation based on the dynamic model of the derived system. The simulation shows the effectiveness of the proposed compensator as it significantly reduces the effort required by the actuators to support the manipulator against gravity. The derived compensator model provides the necessary constraints on the design parameters.