카메라 고정장치의 중력보상기 설계

Abstract

This paper presents gravity compensators of a camera fixing mechanism. A parallelogram is used to maintain the pose of camera and a constant static torque is generated because of the offset of mass of camera module from a parallelogram. The traditional energy method is proven to be inadequate to the constant torque. Three designs are presented with the torque method (considering static torque balancing). A non-circular pulley design is fabricated among them, in that only one spring is applied. Experiments show that complete gravity compensation is achieved for all poses.