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New Gravity Balancing Technique and Hybrid Actuation for Spatial Serial Manipulators

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Advances in Robot Kinematics

Abstract

The problem of gravity balancing of robotic systems has been investigated for a long time. A big amount of different designs has been developed so far, but with several limitations: applicability only to planar kinematics or some particular spatial ones, encumbrance and reduced workspace of the robot, complication of both theoretical and practical implementation. This chapter deepens a new simple technique for gravity balancing any spatial serial manipulator with rotational joints, using a number of springs less or equal to the number of degrees of freedom of the manipulator. Then, such technique is extended to a concept of actuation for robotic systems. Given a robotic manipulator and a force to exert at the level of the end effector, there is no energy consumption regardless of the configuration of the system (like in passive systems), as long as magnitude and orientation of the required force are fixed. Changes in magnitude and/or orientation of the exerted force require some energy to be achieved (like in active systems). Such combined features make an hybrid system with several benefits: low energy consumptions, simplified control and intrinsic safety of the system, with wide prospects in robotics.

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Notes

  1. 1.

    Note that the projection of the length of the link \(l\) along the direction of the force to balance, involved in the gravitational potential energy, is \(l \cos {\theta }\), and the nonconstant term of the potential energy of the spring is also proportional to \(\cos {\theta }\).

  2. 2.

    There have been some studies on balancing manipulators without using auxiliary links [7], but workspace may be reduced because of possible elements connected between non-consecutive links.

  3. 3.

    Equally, a two-dof rotational joint with incident axes would work too.

  4. 4.

    According to classical robotics conventions [21], \(\mathbf {F}\) in Fig. 3 is the force applied from the robot to the external world.

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Acknowledgments

This work has been supported by the European project VERE (FP7, FET, 257695)

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Authors and Affiliations

  1. PercRo Lab, TeCIP Institute, Scuola Superiore Sant’Anna, Pisa, Italy

    Basilio Lenzo, Antonio Frisoli, Fabio Salsedo & Massimo Bergamasco

Authors
  1. Basilio Lenzo
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  2. Antonio Frisoli
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  3. Fabio Salsedo
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  4. Massimo Bergamasco
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Correspondence to Basilio Lenzo .

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Editors and Affiliations

  1. J. Stefan Institute, Ljubljana-Vic-Rudnik, Slovenia

    Jadran Lenarčič

  2. Department of Computer Science Artificial Intelligence Laboratory, Stanford University, Stanford, California, USA

    Oussama Khatib

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Lenzo, B., Frisoli, A., Salsedo, F., Bergamasco, M. (2014). New Gravity Balancing Technique and Hybrid Actuation for Spatial Serial Manipulators. In: Lenarčič, J., Khatib, O. (eds) Advances in Robot Kinematics. Springer, Cham. https://doi.org/10.1007/978-3-319-06698-1_43

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  • DOI: https://doi.org/10.1007/978-3-319-06698-1_43

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