Computational Design of Balanced Open Link Planar Mechanisms with Counterweights from User Sketches
Takuto Takahashi,Hiroshi G. Okuno,Shigeki Sugano,Stelian Coros,Bernhard Thomaszewski,Takuto Takahashi,Hiroshi G. Okuno,Shigeki Sugano,Stelian Coros,Bernhard Thomaszewski
We consider the design of under-actuated articulated mechanism that are able to maintain stable static balance. Our method augments an user-provided design with counter-weights whose mass and attachment locations are automatically computed. The optimized counterweights adjust the center of gravity such that, for bounded external perturbations, the mechanism returns to its original configuration. U...
