Gravity Compensation in Robotics

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.

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• Engenharia mecânica
• Inteligência artificial
• Robótica

IFToMM;robot design;parallel robots;gravity balancing;gravity compensation;robotic systems