본문 바로가기
KERD
논문KCI 등재

카메라 고정장치의 중력보상기 설계

Design of a Static Balancer for a Camera Fixing Mechanism

조창현
공학기술연구원 (The Research Institute of Advanced Engineering Technology, Chosun University)|2017.06|공학기술논문지 (Journal of Advanced Engineering and Technology)|제10권 제2호|pp. 165-171|DOI 10.35272/jaet.2017.10.2.165

1

조회

0

다운로드

0

인용

0

참고문헌

키워드

springpulleyStatic balancinggravity compensatorwire
주제분류공학일반

초록

This paper presents gravity compensators of a camera fixing mechanism. A parallelogram is used to maintain the pose of camera and a constant static torque is generated because of the offset of mass of camera module from a parallelogram. The traditional energy method is proven to be inadequate to the constant torque. Three designs are presented with the torque method (considering static torque balancing). A non-circular pulley design is fabricated among them, in that only one spring is applied. Experiments show that complete gravity compensation is achieved for all poses.

Abstract

This paper presents gravity compensators of a camera fixing mechanism. A parallelogram is used to maintain the pose of camera and a constant static torque is generated because of the offset of mass of camera module from a parallelogram. The traditional energy method is proven to be inadequate to the constant torque. Three designs are presented with the torque method (considering static torque balancing). A non-circular pulley design is fabricated among them, in that only one spring is applied. Experiments show that complete gravity compensation is achieved for all poses.

참고문헌 (33)

  1. "Portable Jimmy Jib" (2017)[URL]
  2. Kram, R., "Effect of reduced gravity on the preferred walk-run transition speed", J. Exp. Biol, 200, pp.821~826 (1997)
  3. Frey, M., "A novel mechatronic body weight support system", IEEE Trans. on Neural Systems and Rehabilitation Eng, 14(3), pp.311~321 (2006)
  4. Agrawal, A., "Design of gravity balancing leg orthosis using non-zero free length springs", Mechanism and machine theory, 40(6), pp.693~709 (2005)
  5. Smith, R. L., "Design of a perfect balance system for active upper-extremity exoskeletons", Proc. ICORR, pp.1~6 (2013)
  6. Hirose, S., "Float arm V:hyper-redundant manipulator with wire-driven weight-compensation mechanism", Proc. ICRA, pp.368~373 (2003)
  7. Wyrobek, K. A., "Towards a personal robotics development platform: Rationale and design of an intrinsically safe personal robot", Proc. ICRA, pp.2165~2170 (2008)
  8. Lin, P. Y., "Design of a Gravity-Balanced General Spatial-Type Manipulator", Int. J. of Mechanisms and Robotics, 2, pp.031003~031003 (2010)
  9. Kim, H.S., "Multi-DOF Counterbalance Mechanism for a Service Robot Arm", IEEE, 2014, pp.19(6), 1756~1763
  10. Gosselin, C. M., "On the design of gravity-compensated six-degree-of-freedom parallel mechanisms", Proc. ICRA, pp.2287~2294 (1998)
  11. Russo, A., "Static balancing of parallel robots", Mechanism and Machine Theory, 40(2), pp.191~202 (2005)
  12. Taoran Liu, "Static balancing of a spatial six-degree-of-freedom decoupling parallel mechanism", Journal of Mechanical Science and Technology, 28(1), pp.191~199 (2014), 대한기계학회
  13. Seo, J.T., "Design of a new counter-balancing stackable mechanism", Proc ICRA, pp.2372~2377 (2014)
  14. Simionescu, I., "Static balancing with elastic systems of DELTA parallel robots", Mechanism and Machine Theory, 87, pp.150~162 (2015)
  15. Martini, A., "Static balancing of a parallel kinematics machine with Linear-Delta architecture theory, design and numerical investigation", Mechanism and Machine Theory, 90, pp.128~141 (2015)
  16. Cho, C.H., "Static balancer for the neck of a face robot", Proc. of the Institution of Mech. Engineers, Part C, 228(3), pp.561~568 (2014)
  17. Nathan, R. M., "A constant force generation mechanism", ASME J. of Mech., Trans., and Automation, 107(4), pp.508~512 (1985)
  18. Ulrich, N., "Passive mechanical gravity compensation for robot manipulators", Proc. ICRA, pp.1536~1541 (1991)
  19. Koser, K., "A cam mechanism for gravity-balancing", Me-chanics Research Communications, 36(4), pp.523~530 (2009)
  20. Endo, G., "A passive weight compensation mechanism with a non-circular pulley and a spring", Proc. ICRA, pp.3843~3848 (2010)
  21. Shien, W.B., "A Novel Spring Balancing Device on the Basis of a Scotch Yoke Mechanism", Proc. the 14th IFToMM World Congress, pp.25~30 (2015)
  22. Kim, B.S., "Design of Nonlinear Rotational Stiffness Using a Noncircular Pulley-Spring Mechanism", J. of Mechanisms and Robotics, 6(4), pp.041009~ (2014)
  23. 조창현, "A 2-dof gravity compensator with bevel gears", Journal of Mechanical Science and Technology, 26(9), pp.2913~2919 (2012), 대한기계학회
  24. Cui, M.C., "Spring Gravity Compensation Using the Noncircular Pulley and Cable For the Less-Spring Design", Proc. the 14th IFToMM World Congress, pp.25~30 (2015)
  25. Morita, T., "A novel mechanism design for gravity compensation in three dimensional space", Proc. AIM, pp.163~168 (2003)
  26. Walsh, G. J., "Spatial spring Equilibrator theory", Mechanism and Machine Theory, 26(2), pp.155~170 (1991)
  27. Streit, D.A., "'Perfect' Spring Equilibrators for Rotatable Bodies", J. of Mech. Des, 111(4), pp.451~458 (1989)
  28. Agrawal, S.K., "Gravity-balancing of spatial robotic manipulators", Mechanism and Machine Theory, 39(12), pp.1331~1344 (2004)
  29. Deepak, S., "Static balancing of rigid-body linkages and compliant mechanisms", PhD, Dept. Mech. Eng., pp.2012
  30. Lin, P. Y., "Design of Statically Balanced Planar Articulated Manipulators With Spring Suspension", IEEE Trans. on Rob, 28(1), pp.12~21 (2012)
  31. Cho, C.H., "Design of a Static Balancing Mechanism for a Serial Manipulator With an Unconstrained Joint Space Using One-DOF Gravity Compensators", IEEE Trans. on Rob, 30(2), pp.421~431 (2014)
  32. Cho, C.H., "Design of a Static Balancer with Equivalent Mapping", Mechanism and Machine Theory, 101, pp.36~49 (2016)
  33. "Constant force spring" (2017)[URL]

관련 논문AI추천

다자유도 수동식 중력보상장치 기반의 6자유도 산업용 로봇송재복, 안국현한국로봇학회 · 로봇학회 논문지2017 · 제12권 제1호기계식 중력보상 기반의 가정용 5자유도 로봇 팔민재경, 박희창, 송재복, 안국현한국로봇학회 · 로봇학회 논문지2020 · 제15권 제1호기계식 중력보상 기반의 중량물 취급용 5자유도 로봇머니퓰레이터의 개발송승우, 송재복한국로봇학회 · 로봇학회 논문지2016 · 제11권 제4호로봇팔을 위한 중력보상기 연구김동호, 최형식, 허재관한국마린엔지니어링학회 · 한국마린엔지니어링학회지2009 · 제33권 제2호무게측정방식에 따른 Lever-linked Roberval Mechanism의 설계특성김화영, 안중환, 안지윤, 이길승한국센서학회 · 센서학회지2020 · 제29권 제5호고속 주행용 실외 경비로봇을 위한 구동 메커니즘고두열, 곽윤근, 우춘규, 정해관한국로봇학회 · 로봇학회 논문지2009 · 제4권 제2호

이 간행물의 다른 논문 (15건)

공공건축물에서 외부차양을 통한 에너지 절감황태연, 민준기pp. 153-158시간도래기반 실내 무선측위 시스템을 위한 향상된 위치인식 알고리즘김상덕, 이태석, 김현술, 김종식pp. 159-163그리드 연계형 10kW급 가정용 에너지 저장장치(BESS) 온도 가변성 분석조인호, 김종훈pp. 173-178R134a와 R1234yf 냉매 적용에 따른 냉동탑차 냉장시스템의 성능비교신윤찬, 조홍현, 김진현pp. 179-184차세대 중형위성 전자광학 탑재체 카메라 제어기 전장품의 열적 안정성 평가채봉건, 장수영, 이용근, 강석주, 오현웅pp. 185-190
원문 보기