Gravity Compensation in Robotics

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.

Contenu
A Modularization Approach for Gravity Compensation of Planar Articulated Robotic Manipulators.- Stiffness modeling for gravity compensators.- Multi-DOF Counterbalancing and Applications to Robots.- Parallel Elastic Actuator: Variable recruitment of parallel springs for partial gravity compensation.- 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 Compenstion.- Gravity Balancing of Parallel Robots by Constant-Force Generators.