抄録
The purpose of this paper is to propose a gravity load compensation method for carrying heavy load with spring and a tuning mechanism of compensation force. There is a previous work that can compensate weight of the manipulator by spring, which name is MGC(Mechanical Gravity Canceller). However, it aimed at compensating fixed weight, so in case of supporting various weight transportation, it needs hand regulation of arm parameters. The proposal new mechanism can compensate any weight of a load within a limit of the setting, so it can support the work of heavy weight transportation without a driving power of a motor. As a result of experimentation, it was shown that this mechanism could exert compensation force suitable for load.
