Counterbalance mechanism including drive ratio
Implementations relate to a counterbalance mechanism including a force transformation mechanism that provides a drive ratio. In some implementations, a counterbalance apparatus includes a spring, a first tension element, a second tension element, a force transformation mechanism coupled to the spring by the first tension element and coupled to the second tension element, and a plurality of counterbalance pulleys coupled to the second tension element. At least one of the counterbalance pulleys is coupled to a load that is moveable with reference to a mechanical ground, and a force provided by the spring is modified in magnitude by the force transformation mechanism and is applied to the load via the second tension element. The force transformation mechanism includes a plurality of elements and the modification of the force is based on a drive ratio of the elements of the force transformation mechanism.
1. A counterbalance apparatus comprising:
a spring coupled to a mechanical ground;
a first tension element;
a second tension element;
a force transformation mechanism coupled to the spring by the first tension element and coupled to the second tension element, the force transformation mechanism being coupled to the mechanical ground and including a first transform pulley having a first radius and a second transform pulley having a second radius; and
a plurality of counterbalance pulleys coupled to the second tension element,
wherein the first transform pulley is rigidly coupled to the second transform pulley, the first radius is different than the second radius, the first tension element is coupled to the first transform pulley, and the second tension element is coupled to the second transform pulley,
wherein at least one of the plurality of counterbalance pulleys is coupled to a load that is moveable with reference to the mechanical ground,
wherein a force provided by the spring is modified in magnitude by the force transformation mechanism and is applied to the load via the second tension element, and
wherein the modification of the force is based on a drive ratio of the first transform pulley and the second transform pulley of the force transformation mechanism.
2. The counterbalance apparatus of claim 1 , wherein:
the drive ratio of the first transform pulley and the second transform pulley of the force transformation mechanism is based on the first radius of the first transform pulley and the second radius of the second transform pulley; and
the force provided by the spring is modified by the force transformation mechanism such that a gravity force on the load is balanced.
3. The counterbalance apparatus of claim 1 , wherein:
the drive ratio is selected based on a particular spring rate of the spring, and
a magnitude of the force provided by the spring to the load is configured based at least on the particular spring rate and drive ratio.
4. The counterbalance apparatus of claim 1 , wherein:
the drive ratio is selected based on a specified extension length of the spring, and
a travel distance of the spring during operation of the counterbalance apparatus is configured based at least on the specified extension length of the spring and the drive ratio.
5. The counterbalance apparatus of claim 1 , wherein:
the plurality of counterbalance pulleys includes a first counterbalance pulley and a second counterbalance pulley;
the counterbalance apparatus includes a counterbalance element;
the second tension element includes a first end portion coupled to the force transformation mechanism;
the second tension element includes a second end portion coupled to the counterbalance element; and
the second tension element is at least partially wrapped around the first counterbalance pulley, at least partially wrapped around the second counterbalance pulley, and at least partially wrapped around the counterbalance element.
6. The counterbalance apparatus of claim 1 , wherein:
the first tension element is a first cable; and
the second tension element is a second cable.
7. The counterbalance apparatus of claim 1 , wherein the counterbalance apparatus is embodied in one of: a user control system of a teleoperated surgical system, or a manipulator device of a teleoperated surgical system.
8. The counterbalance apparatus of claim 1 , wherein the drive ratio determines the modification of the force to be a force reduction or a force amplification based on a relative size of the first transform pulley and the second transform pulley.
9. The counterbalance apparatus of claim 1 , wherein the second tension element includes an end portion coupled to the force transformation mechanism, wherein the plurality of counterbalance pulleys include a first counterbalance pulley and a second counterbalance pulley, wherein the second tension element is wrapped at least partially around the first counterbalance pulley and at least partially around the second counterbalance pulley.
10. The counterbalance apparatus of claim 1 , wherein:
the counterbalance apparatus further includes a counterbalance element coupled to the mechanical ground;
the second tension element includes a first end portion coupled to the force transformation mechanism; and
the second tension element includes a second end portion coupled to the counterbalance element.
11. The counterbalance apparatus of claim 10 , wherein:
the counterbalance element includes a cylindrical segment rotationally coupled to the force transformation mechanism and rigidly coupled to the mechanical ground.
12. A counterbalance apparatus comprising:
a spring coupled to a mechanical ground;
a first tension element;
a second tension element;
a force transformation mechanism coupled to the spring by the first tension element and coupled to the second tension element, the force transformation mechanism being coupled to the mechanical ground and including a first transform pulley rigidly coupled to a second transform pulley;
a plurality of counterbalance pulleys coupled to the second tension element; and
a counterbalance element coupled to the mechanical ground, the counterbalance element including a cylindrical segment rotationally coupled to the force transformation mechanism and rigidly coupled to the mechanical ground,
wherein the second tension element includes a first end portion coupled to the force transformation mechanism and a second end portion coupled to the counterbalance element,
wherein at least one of the plurality of counterbalance pulleys is coupled to a load that is moveable with reference to the mechanical ground,
wherein a force provided by the spring is modified in magnitude by the force transformation mechanism and is applied to the load via the second tension element, and
wherein the modification of the force is based on a drive ratio of the first transform pulley and the second transform pulley of the force transformation mechanism.
13. The counterbalance apparatus of claim 12 , wherein:
the drive ratio of the first transform pulley and the second transform pulley of the force transformation mechanism is based on a first radius of the first transform pulley and a second radius of the second transform pulley; and
the force provided by the spring is modified by the force transformation mechanism such that a gravity force on the load is balanced.
14. The counterbalance apparatus of claim 12 , wherein:
the drive ratio is selected based on a particular spring rate of the spring,
a magnitude of the force provided by the spring to the load is configured based at least on the particular spring rate and drive ratio.
15. The counterbalance apparatus of claim 12 , wherein:
the drive ratio is selected based on a specified extension length of the spring,
a travel distance of the spring during operation of the counterbalance apparatus is configured based at least on the specified extension length of the spring and the drive ratio.
16. The counterbalance apparatus of claim 12 , wherein:
the first transform pulley has a first radius and the second transform pulley has a second radius that is different than the first radius.
17. The counterbalance apparatus of claim 16 , wherein:
the first tension element is coupled to the first transform pulley; and
the second tension element is coupled to the second transform pulley.
18. The counterbalance apparatus of claim 12 , wherein the drive ratio determines the modification of the force to be a force reduction or a force amplification based on a relative size of the first transform pulley and the second transform pulley.
19. The counterbalance apparatus of claim 12 , wherein the plurality of counterbalance pulleys include a first counterbalance pulley and a second counterbalance pulley, wherein the second tension element is wrapped at least partially around the first counterbalance pulley and at least partially around the second counterbalance pulley.