Review, categorization and comparison of 1 DOF static balancers

Asthor T. Steinthorsson, Milton E. Aguirre, Gerard Dunning, Just L. Herder

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

2 Citations (Scopus)

Abstract

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: CompensatedForce Volume ; SBStroke Volume ; Energy Volume 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.

Original languageEnglish
Title of host publicationASME Proceedings - 39th Mechanisms and Robotics Conference
Place of PublicationNew York, NY, USA
PublisherASME
Pages1-9
Volume5A-2015
ISBN (Electronic)9780791857120
DOIs
Publication statusPublished - 2015
EventASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 - s.l., Boston, United States
Duration: 2 Aug 20155 Aug 2015

Conference

ConferenceASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
CountryUnited States
CityBoston
Period2/08/155/08/15

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