LATIDIA · Robótica

Modelado y diseño generativo basado en IA de mecanismos de equilibrio de gravedad adaptativos a la carga

arXiv:2609.31386v1 Anuncio Tipo: nuevo Resumen: Los mecanismos de equilibrio gravitacional adaptativos a la carga (LA-GBM) pueden adaptarse a diversas condiciones de carga cambiando pasivamente sus características en respuesta a la variación de la carga útil.

La noticia

arXiv:2609.31386v1 Announce Type: new Abstract: Load-adaptive gravity balancing mechanisms (LA-GBMs) can accommodate various loading conditions by passively changing their characteristics in response to payload variations. However, their design is difficult because both the desired mechanism motion and static equilibrium under variable payloads must be satisfied simultaneously. This study proposes a general design methodology for LA-GBMs that does not depend on specific mechanism architectures or mechanical elements. The necessary conditions for the potential fields of LA-GBMs are formulated, and two general forms are derived: an affine form representing the effect of payload mass and a factorized form representing state transitions associated with load adaptation and gravity balancing. These forms are then