Design of planar static balancer with associated linkage

We propose a 3-degree of freedom gravity compensator for the neck of a robotic face. The neck of the face robot is configured with yaw-pitch-pitch-roll rotations. Since the yaw rotation is made parallel to gravity, only the pitch-pitch-roll rotations are considered for gravity compensation. The 1-degree of freedom gravity compensator is located at the first pitch joint. A 2-degree of freedom gravity compensator equivalent to the existing gravity compensator is proposed and applied to the second pitch and roll rotations. A parallelogram is adopted between the first and second pitch rotations. One end of the 2-degree of freedom gravity compensator is attached at the parallelogram and the other is fixed at the face. Wires are used to realize a zero-length spring for all gravity compensators and all springs are located at the base for compact design. Experimental results for gravity compensation show that gravitational torques were effectively counterbalanced by the proposed 3-degree of freedom gravity compensator.

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Theory of the Three-Wire D-C. Generator with Two-Phase Static Balancer With Special Reference to Magnetic Phenomena in the Balance Core

Transactions of the American Institute of Electrical Engineers ◽

10.1109/t-aiee.1933.5056248 ◽

1933 ◽

Vol 52 (1) ◽

pp. 30-44

Author(s):

E. Geoffrey Cullwick

Keyword(s):

Special Reference ◽

Two Phase ◽

Static Balancer ◽

Magnetic Phenomena

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A device for the rapid determination of the current distribution of the line side of a three-phase inter-connected-star static balancer operating on a four wire system

Journal of the Institution of Electrical Engineers ◽

10.1049/jiee-1.1919.0066 ◽

1919 ◽

Vol 57 (2S) ◽

pp. 201-208

Author(s):

S. Austen Stigant

Keyword(s):

Current Distribution ◽

Rapid Determination ◽

Three Phase ◽

Static Balancer ◽

Wire System

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The three-phase, interconnected star neutral earthing transformer and static balancer

The J & P Transformer Book ◽

10.1016/b978-0-408-00494-7.50027-3 ◽

1983 ◽

pp. 515-527

Author(s):

A.C. Franklin ◽

D.P. Franklin

Keyword(s):

Three Phase ◽

Static Balancer

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Design method of a planar static balancer using a motion matrix

2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) ◽

10.1109/urai.2017.7992821 ◽

2017 ◽

Author(s):

Sanghyung Kim ◽

Changhyun Cho

Keyword(s):

Design Method ◽

Static Balancer

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Inlet Guide Vane Failure: Aero-Mechanical and System Control Interaction Effect

Volume 6: Structures and Dynamics, Parts A and B ◽

10.1115/gt2011-46742 ◽

2011 ◽

Author(s):

Loc Q. Duong ◽

Charlene X. Hu ◽

Nagamany Thayalakhandan

Keyword(s):

Guide Vane ◽

Gear Tooth ◽

Electrical Power ◽

Inlet Guide Vane ◽

System Control ◽

Turbine Engine ◽

Associated Linkage ◽

Control Feedback ◽

And Control ◽

Variable Inlet Guide Vane

The APU, a gas turbine engine is designed to provide the aircraft with electrical power and pneumatic air both on the ground and in-flight conditions. The variable inlet guide vane (VIGV) system is used to regulate the air flow to the load compressor. The vane motions are controlled by an actuator and associated linkage. Common failure mechanisms of the VIGV such as cracking, corrosion of vanes, have been reported. This paper discusses a particular mode of failure which involves the aero-mechanical and control feedback interaction. The failure phenomenon is characterized by sector and ring gear tooth non-uniform wear, jamming of sector gears, actuator resonance, actuator fluid contamination and subsequent engine shutdown. Solution to failure mode is also discussed.

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Review, Categorization and Comparison of 1 DOF Static Balancers

Volume 5A: 39th Mechanisms and Robotics Conference ◽

10.1115/detc2015-47217 ◽

2015 ◽

Author(s):

Asthor T. Steinthorsson ◽

Milton E. Aguirre ◽

Gerard Dunning ◽

Just L. Herder

Keyword(s):

Energy Storage ◽

Haptic Feedback ◽

Theoretical Calculations ◽

Mechanical Systems ◽

System Size ◽

Surgical Instruments ◽

Design Parameters ◽

Comprehensive Overview ◽

Comparison Results ◽

Static Balancer

A static balancer is a mechanism used to force compensate mechanical systems and has been used in applications such as improving haptic feedback in surgical instruments and lowering motor loads in robotic systems. Currently no complete overview exists of all SB methods, this paper can be seen as an extension to earlier work by introducing more static balancing categories and methods. The goal is to have a comprehensive overview of state-of-the-art to aid designers in selecting the appropriate static balancer technology for mechanical systems. Existing designs are categorized based on the energy storage mechanism, e.g. elastic energy storage mechanisms. Critical design parameters are extracted from published literature to form the basis of comparison of the different categories. A performance criterium is defined to illustrate balancing capabilities as a function of system size. The three comparison parameters are: CompensatedForceVolume,SBStrokeVolume,EnergyVolume The comparison results show that compliant flexure balancers are the best selection for balancing systems while keeping minimal size. Theoretical calculations show that there is still ample room to improve current balancers with regard to the chosen balancer criteria.

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