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Bakker, D.L. (author), Matsuura, D. (author), Takeda, Y (author), Herder, J.L. (author)
Continuum manipulators are high degree of freedom structures that can use their increased degrees of freedom to navigate through an environment with obstacles. This type of manipulator is underactuated, which make them promising for adapting to their environments. However, current research is mainly focused on accurate positioning and obstacle...
conference paper 2015
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Herder, J.L. (author), Lustig, M.P. (author), Dunning, A.G. (author)
A statically balanced system is in equilibrium in every pose. In classical balancing solutions for serial linkages, each DOF is balanced by an independent element. Disadvantages are increased mass and inertia for counter-mass, and auxiliary links for spring solutions. Recent literature presents a method for balancing serial linkages without...
conference paper 2015
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Radaelli, G. (author), Herder, J.L. (author)
A new monolithic fully compliant gravity balancer is designed with help of a design approach based on shape optimization. The balancer consists of one single complex-shaped beam on which the weight is attached. The beam is modeled as a planar isogeometric Bernoulli beam. The goal function of the optimization consists of an energy based...
conference paper 2015