A Three-link Gravity-balanced Mechanism for Operating Room Assistance
Keywords:gravity-balanced mechanisms, static balancing, gravity compensation, three-link mechanisms
The compensation of gravity is not a new problem and gravity-balanced mechanisms have been extensively studied. Some of these studies present practical applications of the gravity-balanced mechanisms, while others focus on the theoretical modelling of the mechanism. In this study, a practical application, a gravity-balanced planar robotic manipulator for operating room assistance is presented. In this design, an auxiliary parallelogram with two linear springs is utilized to accomplish gravity compensation. As a passive gravity-balanced mechanism, it does not have any actuators. The novelty of the mechanism is the exchangeable end-effector and changeable spring attachment location accordingly. The simulation results show that the designed mechanism is gravity-balanced in all configurations. The presented mechanism in this study can also be extended to solve a multi-link gravity balance problem.
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LicenseCopyright (c) 2023 Proceedings of the Bulgarian Academy of Sciences
Copyright (c) 2022 Proceedings of the Bulgarian Academy of Sciences
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