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Scissor lift with real-time self-adjustment ability based on variable gravity compensation mechanism
http://hdl.handle.net/10748/00010129
http://hdl.handle.net/10748/00010129e99f735c-8f3e-4fba-b5de-135cc3e777ee
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
10947-001 (6.8 MB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2018-05-08 | |||||
| タイトル | ||||||
| タイトル | Scissor lift with real-time self-adjustment ability based on variable gravity compensation mechanism | |||||
| タイトル | ||||||
| タイトル | Scissor lift with real-time self-adjustment ability based on variable gravity compensation mechanism | |||||
| 言語 | en | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Scissor lift | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | pantograph | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | gravity compensation mechanism | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | spring | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | adjustable | |||||
| キーワード | ||||||
| 言語 | en | |||||
| 主題Scheme | Other | |||||
| 主題 | Scissor lift | |||||
| キーワード | ||||||
| 言語 | en | |||||
| 主題Scheme | Other | |||||
| 主題 | pantograph | |||||
| キーワード | ||||||
| 言語 | en | |||||
| 主題Scheme | Other | |||||
| 主題 | gravity compensation mechanism | |||||
| キーワード | ||||||
| 言語 | en | |||||
| 主題Scheme | Other | |||||
| 主題 | spring | |||||
| キーワード | ||||||
| 言語 | en | |||||
| 主題Scheme | Other | |||||
| 主題 | adjustable | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
| 資源タイプ | journal article | |||||
| 著者 |
Takesue, Naoyuki
× Takesue, Naoyuki× Komoda, Yosuke× Murayama, Hideyuki× Fujiwara, Kousyun× Fujimoto, Hideo |
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| 著者(ヨミ) |
タケスエ, ナオユキ
× タケスエ, ナオユキ |
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| 著者別名 |
武居, 直行
× 武居, 直行 |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | Most robots involved in vertical movement against gravitation require actuators large enough to support their own weight. To improve the inherent safety of such robots against the large actuators and reduce their energy consumption, numerous gravity compensation mechanisms (GCMs) have been proposed. Our previous study proposed a variable GCM (VGCM) that uses two types of springs and can adjust the compensation force. In this paper, a VGCM-based scissor lift (pantograph lift) that uses three springs and a smaller actuator is proposed. A prototype is designed and fabricated, and the performance of the prototype is evaluated experimentally. The results demonstrate that the developed scissor lift meets the design specifications. In addition, a load estimator is established based on the dynamic model of the scissor lift. A real-time self-adjustment method that automatically changes the compensation force is proposed, and its effectiveness is verified. | |||||
| 書誌情報 |
Advanced Robotics en : Advanced Robotics 巻 30, 号 15, p. 1014-1026, 発行日 2016-05 |
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| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 01691864 | |||||
| 書誌レコードID | ||||||
| 収録物識別子タイプ | NCID | |||||
| 収録物識別子 | AA10679021 | |||||
| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | https://doi.org/10.1080/01691864.2016.1181008 | |||||
| 権利 | ||||||
| 権利情報 | This is an electronic version of an article published in ADVANCED ROBOTICS, Volume No.30, No.15, pp-1014-1026, 2016/5. ADVANCED ROBOTICS is available online at: www.tandfonline.com/Article DOI; 10.1080/01691864.2016.1181008 . | |||||
| 著者版フラグ | ||||||
| 出版タイプ | AM | |||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||
| 出版者 | ||||||
| 出版者 | Taylor & Francis | |||||
