A Simple Technique to Passively Gravity-Balance Articulated Mechanisms

A simple method to counter the effects of gravity in articulated mechanisms is proposed. The scheme uses kinematics and linear springs to produce a nonlinear restoring force to oppose the gravitational moment. The method equilibrates a rotational mechanism for all postures. A solution for one link i...

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Bibliographic Details
Published in:Journal of mechanical design (1990) 1995-12, Vol.117 (4), p.655-658
Main Authors: Rahman, T, Ramanathan, R, Seliktar, R, Harwin, W
Format: Article
Language:English
Subjects:
Applied sciences
Drives
Exact sciences and technology
Linkage mechanisms, cams
Material handling, hoisting. Storage. Packaging
Mechanical engineering. Machine design
Transfert equipment, manipulators
industrial robots
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Summary:A simple method to counter the effects of gravity in articulated mechanisms is proposed. The scheme uses kinematics and linear springs to produce a nonlinear restoring force to oppose the gravitational moment. The method equilibrates a rotational mechanism for all postures. A solution for one link is obtained then general equations for n links are derived. The method is simpler than previous schemes and has applications in robotics, orthotics and a host of everyday mechanisms.
ISSN:1050-0472
1528-9001
DOI:10.1115/1.2826738