Scissor lift with real-time self-adjustment ability based on variable gravity compensation mechanism
| Autor: | Naoyuki Takesue, Kousyun Fujiwara, Yosuke Komoda, Hideo Fujimoto, Hideyuki Murayama |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Engineering Scissor lift gravity compensation mechanism 02 engineering and technology Gravitation 020901 industrial engineering & automation 0203 mechanical engineering pantograph Simulation spring business.industry Estimator Energy consumption Computer Science Applications Human-Computer Interaction Lift (force) 020303 mechanical engineering & transports Hardware and Architecture Control and Systems Engineering Inherent safety Pantograph Robot business Actuator Software adjustable |
| Zdroj: | Advanced Robotics. 30:1014-1026 |
| ISSN: | 1568-5535 0169-1864 |
| Popis: | Most robots involved in vertical movement against gravitation require actuators large enough to support their own weight. To improve the inherent safety of such robots against the large actuators and reduce their energy consumption, numerous gravity compensation mechanisms (GCMs) have been proposed. Our previous study proposed a variable GCM (VGCM) that uses two types of springs and can adjust the compensation force. In this paper, a VGCM-based scissor lift (pantograph lift) that uses three springs and a smaller actuator is proposed. A prototype is designed and fabricated, and the performance of the prototype is evaluated experimentally. The results demonstrate that the developed scissor lift meets the design specifications. In addition, a load estimator is established based on the dynamic model of the scissor lift. A real-time self-adjustment method that automatically changes the compensation force is proposed, and its effectiveness is verified. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|
| Nepřihlášeným uživatelům se plný text nezobrazuje | K zobrazení výsledku je třeba se přihlásit. |