仮想重力機構を用いた操作補助効果の検証

抄録

In production lines of manufacturing plans, the cargo handling machinery and balancer have used. Counterweights and weight compensation mechanisms using elastic elements are effective to reduce the torque of the deadweight of these. We proposed novel gravity compensation mechanism, which named Mechanical Gravity Generator (MGG). It has an advantage that it allows the passive stabilization of the links in all directions by the equilibrium positions designed independently for each link. In this paper, in order to clarify the effect of passive stabilization of MGG to support operator in manufacturing work with passive link mechanism, a test assumed parts assembly work with MGG 2 link passive arm was conducted.