Compact and Variable Gravity Compensation Module - version II

Related Article:
[1] J. Kim, J. Moon, J. Ryu, and G. Lee*, “CVGC-II: A New Version of a Compact Variable Gravity Compensator (CVGC) with a Wider Range of Variable Torque and Energy-Free Variable Mechanism,” IEEE/ASME Transactions on Mechatronics, 2021 (ieeexplore.ieee.org/abstract/... )

[@SynthRockViking]

Forks on springs, pushed by springs

[@Everfalling]

oh interesting. so the cartioid shape of the cam means that the most spring resistance is applied when the arm is upright and the least when the arm is pointed downward. very interesting. is there any tactile "click" as it seats into the dip on the cam?

[@hayoun3]

캠 구조와 스프링을 사용해서 중력보상을 한건 정말 흥미로운데, inertia가 많이 걸려있는 고속 메니퓰레이션 작업에선 보상력이 시스템의 동작에 어떤 영향을 줄지 궁금하네요.

[@cauassistiveandrehabilitat7285]

좋은 포인트입니다! 저희도 궁금해서 매니퓰레이터에 적용해버고 있어요. 곧 결과가 나올텐데 기대해주세요^^

[@heartminer5487]

could you adjust the counterbalance force when the arm isn't upright?

[@cauassistiveandrehabilitat7285]

That's a good question. Yes, it is possible but the adjusting motor needs to use more energy since in that case the motor need to push the spring together when adjusting the pivot position.

[@heartminer5487]

@@cauassistiveandrehabilitat7285 thx. 5Nm compensation out of such a small form factor is very impressive. I have seen another variable compensation design that is massive. Still, is it possible to add a compensation to the adjustment linear actuator so that the motor needs ~ 0 torque to adjust the leverage at an angle of, for example, pi/2? This would be very useful in situation like workers loading and unloading around a similar elevation.