TY - GEN
T1 - Computational design of balanced open link planar mechanisms with counterweights from user sketches
AU - Takahashi, Takuto
AU - Okuno, Hiroshi G.
AU - Sugano, Shigeki
AU - Coros, Stelian
AU - Thomaszewski, Bernhard
N1 - Funding Information:
Takuto Takahashi was supported by the Graduate Program for Embodiment Informatics, funded by the JSPS at Waseda University. Hiroshi G. Okuno was supported by Kakenhi 19H00750. Bernhard Thomaszewski was supported by the NSERC Discovery Grants and Discovery Accelerator Awards program.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/24
Y1 - 2020/10/24
N2 - We consider the design of under-actuated articulated mechanism that are able to maintain stable static balance. Our method augments an user-provided design with counter-weights whose mass and attachment locations are automatically computed. The optimized counterweights adjust the center of gravity such that, for bounded external perturbations, the mechanism returns to its original configuration.Using our sketch-based system, we present several examples illustrating a wide range of user-provided designs can be successfully converted into statically-balanced mechanisms. We further validate our results with a set of physical prototypes.
AB - We consider the design of under-actuated articulated mechanism that are able to maintain stable static balance. Our method augments an user-provided design with counter-weights whose mass and attachment locations are automatically computed. The optimized counterweights adjust the center of gravity such that, for bounded external perturbations, the mechanism returns to its original configuration.Using our sketch-based system, we present several examples illustrating a wide range of user-provided designs can be successfully converted into statically-balanced mechanisms. We further validate our results with a set of physical prototypes.
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U2 - 10.1109/IROS45743.2020.9341027
DO - 10.1109/IROS45743.2020.9341027
M3 - Conference contribution
AN - SCOPUS:85102405570
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 6466
EP - 6471
BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Y2 - 24 October 2020 through 24 January 2021
ER -