Design of Gravity Compensation Based on Rope Pulley Mechanism Using in Pineapple Harvesting
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DOI: 10.25236/emcs.2018.106
Author(s)
De Dong, Xiaotong Wu, Yichen Zhou, Weichen Peng, Haoyu Song, Peng Chen
Corresponding Author
De Dong
Abstract
Objective: Aiming at compensating the gravity, a passive gravity compensation system is designed. In order to verify the practicability, it has been applied in the pineapple harvesting. Utilizing the disc cam and tension spring mechanism, the system can implement gravity compensation within any angle in operation. Methods: It establishes a mechanical model of static balance system of manipulator, and obtains the contour of the cam by deducing the relationship between angle and the arm of force by considering the angle between the flexing rope and vertical direction. Results: The system works ideally meets the anticipation. Conclusion: Aiming at putting the gravity compensation into the miniature hand construction machinery and agricultural machinery, the cost of the whole gravity compensation is very low and significantly useful in labor-saving in the testing working conditions.
Keywords
Gravity Compensation, Rope Pulley Mechanism, Pineapple Harvesting