Gravity Compensation in Robotics
Author:   Vigen Arakelian
Publisher:   Springer Nature Switzerland AG
Edition:   1st ed. 2022
Volume:   115
ISBN:  

9783030957520


Pages:   273
Publication Date:   20 March 2023
Format:   Paperback
Availability:   Manufactured on demand   Availability explained
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Gravity Compensation in Robotics


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Overview

This book presents new research results in the field of gravity compensation in robotic systems. It explores topics such as gravity compensation of planar articulated robotic manipulators; the stiffness modeling of manipulators with gravity compensators; the multi-degree-of-freedom counter-balancing; the design of actuators with partial gravity compensation; a cable-driven robotic suit with gravity compensation for load carriage; various compensation systems for medical cobots and assistive devices; gravity balancing of parallel robots. The volume demonstrates that gravity compensation methods continue to develop, and new approaches and solutions are constantly being reported. These solutions apply both to new structural solutions and to their new applications. Cobots, exoskeletons and robotic suits, assistive devices, as well as biomechanical systems are among the most promising applications and most pressing areas for further innovation.

Full Product Details

Author:   Vigen Arakelian
Publisher:   Springer Nature Switzerland AG
Imprint:   Springer Nature Switzerland AG
Edition:   1st ed. 2022
Volume:   115
Weight:   0.438kg
ISBN:  

9783030957520


ISBN 10:   3030957527
Pages:   273
Publication Date:   20 March 2023
Audience:   Professional and scholarly ,  Professional & Vocational
Format:   Paperback
Publisher's Status:   Active
Availability:   Manufactured on demand   Availability explained
We will order this item for you from a manufactured on demand supplier.

Table of Contents

A Modularization Approach for Gravity Compensation of Planar Articulated Robotic Manipulators.- Stiffness modeling for gravity compensators.- Multi-DOF Counterbalancing and Applications to Robots.- Parallel Elastic Actuator: Variable recruitment of parallel springs for partial gravity compensation.- Optimization and Control of a Cable-driven Robotic Suit for Load Carriage.- Tool Compensation for a Medical Cobot-Assistant.- Design of Statically Balanced Assistive Devices.- Design of Multifunctional Assistive Devices with Various Arrangements of Gravity Compenstion.- Gravity Balancing of Parallel Robots by Constant-Force Generators.

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