Computational design of balanced open link planar mechanisms with counterweights from user sketches
dc.contributor.author
Takahashi, Takuto
dc.contributor.author
Okuno, Hiroshi G.
dc.contributor.author
Sugano, Shigeki
dc.contributor.author
Coros, Stelian
dc.contributor.author
Thomaszewski, Bernhard
dc.date.accessioned
2021-04-28T15:13:47Z
dc.date.available
2021-03-19T04:04:47Z
dc.date.available
2021-04-28T15:11:54Z
dc.date.available
2021-04-28T15:13:47Z
dc.date.issued
2020
dc.identifier.isbn
978-1-7281-6212-6
en_US
dc.identifier.isbn
978-1-7281-6213-3
en_US
dc.identifier.other
10.1109/IROS45743.2020.9341027
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/475387
dc.description.abstract
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. © 2020 IEEE.
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.title
Computational design of balanced open link planar mechanisms with counterweights from user sketches
en_US
dc.type
Conference Paper
dc.date.published
2021-02-10
ethz.book.title
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
en_US
ethz.pages.start
6466
en_US
ethz.pages.end
6471
en_US
ethz.event
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020) (virtual)
en_US
ethz.event.location
Las Vegas, NV, USA
en_US
ethz.event.date
October 24, 2020 - January 24, 2021
en_US
ethz.notes
Due to the Coronavirus (COVID-19) the conference was conducted virtually.
en_US
ethz.identifier.scopus
ethz.publication.place
Piscataway, NJ
en_US
ethz.publication.status
published
en_US
ethz.date.deposited
2021-03-19T04:05:14Z
ethz.source
SCOPUS
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2021-04-28T15:12:04Z
ethz.rosetta.lastUpdated
2022-03-29T06:54:34Z
ethz.rosetta.versionExported
true
ethz.COinS
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Conference Paper [33060]