Motion Analysis of Gravity Compensation Mechanism with Low Inertia Using Parallel Wire Mechanism

While many researches about gravity compensation mechanism have been conducted in decade years, the conventional methods of gravity compensation mechanism are considered to have the challenge that the weights and inertia of manipulators increases due to the additional elements. In this paper, we proposed the novel design of gravity compensation mechanism using parallel wire mechanism. The proposed mechanism is designed by tendon-driven, and has no additional elements on the main body, which can realize the low weight and inertia. Moreover, with the manufactured two-link manipulator according to the proposed gravity compensation mechanism, we verified the effectiveness of the proposed method through two experiments and also discuss the results of experiments.