Session: MR-07-02

Paper Number: 143146

143146 - Gravity-Balancing Mechanism for Lifting Platform of Autonomous Mobile Robot 

In the realm of automated material handling within manufacturing facilities, the incorporation of a flexible range lifting platform stands out as a transformative solution, promising substantial reductions in labour costs and transportation time. This article introduces a novel design concept that seamlessly integrates a lifting platform with a gravity-balancing mechanism. This integration empowers the platform to move dynamically and come to a precise stop at any position during material handling operations. The key innovation lies in maintaining the platform in a state of static equilibrium at any location, thereby minimizing the torque force required by the motors throughout the transportation process. To achieve the design objectives within a confined spring extension range, constant force springs serve as compensatory elements. Their interplay with the mechanical properties of pulleys offsets the displacement distance of the mechanism. Four distinct pulley configurations are analyzed in this paper to assess their impact on the number of pulleys and the overall size of the mechanism. The ensuing theoretical exploration establishes the feasibility of the proposed design, setting the stage for its practical implementation in automated material handling systems. Calculations are based on the static equilibrium of the payload. In the absence of friction, the lifting platform can move smoothly and come to a stop at any height. This design, while achieving gravity compensation, is expected to effectively reduce the torque on the lifting mechanism's driver and extend its operational lifespan.

Presenting Author: Po Ting Lin National Taiwan University of Science and Technology

Presenting Author Biography: Dr. Po Ting Lin is a Professor in the Department of Mechanical Engineering at National Taiwan University of Science and Technology (NTUST), Taipei, Taiwan. He's also the Director of Center for Intelligent Robotics (CIR) at NTUST. Recently, he's also involved in the Intelligent Manufacturing Innovation Center (IMIC) at NTUST. His research area includes design optimization with uncertainties, computer vision, industrial robotics, autonomous mobile robots, artificial intelligences, etc.

Authors:

Chih-Chi Yuan National Taiwan University of Science and Technology
Chin-Hsing Kuo University of Wollongong
Brijesh Patel National Taiwan University of Science and Technology
Po Ting Lin National Taiwan University of Science and Technology