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Browse Prior Art Database

Detented Counterbalance Drive

IP.com Disclosure Number: IPCOM000046968D
Original Publication Date: 1983-Sep-01
Included in the Prior Art Database: 2005-Feb-07
Document File: 2 page(s) / 48K

Publishing Venue

IBM

Related People

Norwood, RE: AUTHOR [+2]

Abstract

The vertical axis 10 of a manipulator must be protected against "free fall" due to gravity when power is removed from the drivers. Counterbalance weights suspended on cables passing over pulleys or high force frictional clamping devices add substantial masses to the drive system, affecting its response time. For example, with a coefficient of friction of 0.10, a 25-pound vertical axis would have to be clamped with a 250-pound spring. By contouring the face of the plunger 12 matching the concave radius of a parabolic linear cam 14 with a one-inch pitch, the spring 15 load was reduced to 50 pounds. Applying hydraulic pressure to the system would retract the plunger 12 against the spring 15, releasing the vertical axis 10 to the control of the drive motor.

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Detented Counterbalance Drive

The vertical axis 10 of a manipulator must be protected against "free fall" due to gravity when power is removed from the drivers. Counterbalance weights suspended on cables passing over pulleys or high force frictional clamping devices add substantial masses to the drive system, affecting its response time. For example, with a coefficient of friction of 0.10, a 25-pound vertical axis would have to be clamped with a 250-pound spring. By contouring the face of the plunger 12 matching the concave radius of a parabolic linear cam 14 with a one- inch pitch, the spring 15 load was reduced to 50 pounds. Applying hydraulic pressure to the system would retract the plunger 12 against the spring 15, releasing the vertical axis 10 to the control of the drive motor.

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