Design of a Linear Gravity Compensator for a Prismatic Joint
Do-Won Kim,Won-Bum Lee,Jae-Bok Song,Do-Won Kim,Won-Bum Lee,Jae-Bok Song
Most existing mechanical gravity compensators have been developed for revolute joints that are found in majority of articulated robot arms. However, robots such as patient transport robots use prismatic joints, which need to handle a heavy payload. In this study, a high-capacity linear gravity compensator (LGC), which comprises pure mechanical components, such as coil springs, a rack-pinion gear, ...
