Microsoft Word - Ch05 Springs and gravity
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Gravity-balancing of Spatial Robotic Manipulators
Gravity balancing is often used in industrial machines to decrease the required actuator efforts during motion. In the literature, a number of methods have been proposed for gravity balancing that include counterweights, springs, and auxiliary parallelograms that determine the center of mass. This paper describes the underlying theory of gravity balanced spatial robotic manipulators through a h...
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Energy generated by the force of water in hydropower can provide a more sustainable, non-polluting alternative to fossil fuels, along with other renewable sources of energy, such as wind, solar and tidal power, bio energy and geothermal energy. Small scale hydroelectricity in Iran is well suited for “off-grid” rural electricity applications, while other renewable energy sources, such as wind, s...
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Graphs have enormous usage in software engineering, network and electrical engineering. In fact graphs drawing is a geometrically representation of information. Among graphs, trees are concentrated because of their ability in hierarchical extension as well as processing VLSI circuit. Many algorithms have been proposed for drawing binary trees within polygons. However these algorithms generate b...
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In general, water cannot be economically pumped through raceways; it must flow through them by gravity. The need for large volumes of good quality water is the principal reason raceways have been limited to sites with large springs. Most raceway culture in the U.S. is with coldwater species such as trout and is based around locations with high volume, cold springs, or creeks. A few raceway syst...
متن کاملA Simple Technique to Passively Gravity-Balance Articulated Mechanisms
A simple method to counter the effects of gravity in articulated mechanisms is proposed. The scheme uses kinematics and linear springs to produce a non-linear restoring force to oppose the gravitational moment. The method equilibrates a rotational mechanism for all postures. A solution for one link is obtained then general equations for n links are derived. The method is simpler than previous s...
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تاریخ انتشار 2002