Arakelian V. Gravity Compensation in Robotics 2022

Textbook in PDF format

This book presents new research results in the field of gravity compensation in robotic systems. It explores topics such as gravity compensation of planar articulated robotic manipulators; the stiffness modeling of manipulators with gravity compensators; the multi-degree-of-freedom counter-balancing; the design of actuators with partial gravity compensation; a cable-driven robotic suit with gravity compensation for load carriage; various compensation systems for medical cobots and assistive devices; gravity balancing of parallel robots.
The volume demonstrates that gravity compensation methods continue to develop, and new approaches and solutions are constantly being reported. These solutions apply both to new structural solutions and to their new applications. Cobots, exoskeletons and robotic suits, assistive devices, as well as biomechanical systems are among the most promising applications and most pressing areas for further innovation.
A Modularization Approach for Gravity Compensation of Planar Articulated Robotic Manipulators
Stiffness Modeling for Gravity Compensators
Multi-DOF Counterbalancing and Applications to Robots
Series Parallel Elastic Actuator: Variable Recruitment of Parallel Springs for Partial Gravity Compensation
Design, Optimization and Control of a Cable-Driven Robotic Suit for Load Carriage
Tool Compensation for a Medical Cobot-Assistant
Design of Statically Balanced Assistive Devices
Design of Multifunctional Assistive Devices with Various Arrangements of Gravity Compensation
Gravity Balancing of Parallel Robots by Constant-Force Generators