Gravity Compensation in Robotics

The book highlights recent research developments in gravity compensation in robotic systems, covering topics such as planar articulated manipulators, stiffness modeling, multi-degree-of-freedom counter-balancing, actuator design, medical cobots, and assistive devices. It emphasizes the continuous innovation in gravity compensation methods, with applications in cobots, exoskeletons, robotic suits, assistive devices, and biomechanical systems.

Format: Hardback
Length: 273 pages
Publication date: 19 March 2022
Publisher: Springer Nature Switzerland AG

This book presents groundbreaking new research results in the field of gravity compensation in robotic systems. It delves into a wide range of topics, including:

Gravity Compensation of Planar Articulated Robotic Manipulators: This chapter explores the techniques and methodologies used to compensate for the effects of gravity in planar articulated robotic manipulators. It discusses the development of stiffness models for manipulators with gravity compensators, as well as the design of actuators with partial gravity compensation.

Multi-Degree-of-Freedom Counter-Balancing: This chapter focuses on the development of counter-balancing systems for multi-degree-of-freedom robotic systems. It discusses the use of passive and active techniques, such as springs, dampers, and actuators, to achieve stable and balanced motion.

Design of Actuators with Partial Gravity Compensation: This chapter explores the design of actuators with partial gravity compensation. It discusses the use of passive and active components, such as springs, dampers, and motors, to achieve desired force and torque outputs in the presence of gravity.

Cable-Driven Robotic Suit with Gravity Compensation for Load Carriage: This chapter presents the design and implementation of a cable-driven robotic suit with gravity compensation for load carriage. It discusses the use of cables and pulleys to transmit forces and torques to the limbs of the suit, allowing it to lift and carry heavy loads.

Various Compensation Systems for Medical Cobots and Assistive Devices: This chapter explores the use of gravity compensation in medical cobots and assistive devices. It discusses the development of compensation systems for wheelchair users, prosthetic limbs, and other assistive devices.

Gravity Balancing of Parallel Robots: This chapter focuses on the gravity balancing of parallel robots. It discusses the use of passive and active techniques, such as sensors, actuators, and control algorithms, to achieve stable and balanced motion of multiple robots in parallel.

The volume showcases the ongoing development and innovation in gravity compensation methods. It highlights new approaches and solutions that are being reported in the field, applying to both new structural solutions and their novel applications. Cobots, exoskeletons, robotic suits, assistive devices, and biomechanical systems are among the most promising areas for further innovation in this domain.

Overall, this book provides a comprehensive and up-to-date overview of the field of gravity compensation in robotic systems. It is a valuable resource for researchers, engineers, and practitioners interested in developing advanced robotic systems that can operate in challenging environments and perform complex tasks.

Weight: 594g
Dimension: 235 x 155 (mm)
ISBN-13: 9783030957490
Edition number: 1st ed. 2022