This paper presents a design concept for gravity compensation of planar articulated robotic
arms using a series of gear-slider mechanisms with springs. The spring-attached gear-slider …

This paper presents a design approach for gravity compensators using planar four-bar
mechanisms and a linear spring. This work enables the development of a class of gravity …

This paper presents the static balancing design of a special reconfigurable linkage that can
switch between two one-degree-of-freedom (DoF) working configurations. We will show that …

This article proposes a method for analyzing the gravity balancing reliability of spring-
articulated serial robots with uncertainties. Gravity balancing reliability is defined as the …

The balancing of linkages is an integral part of the mechanism design. Despite its long
history, mechanism balancing theory continues to be developed and new approaches and …

The static balancing of mechanical systems is an important issue because it allows one to
significantly decrease the size of actuators for equivalent displacements of the end effector …

This paper presents a method for analyzing the performance of gravity-balanced serial
robotic manipulators under dynamic loads. The analysis is executed by adopting torque …

This paper presents a method for realizing a gear-spring balancer (GSB) that can cope with
variable payloads and its application to serial robots. The GSB is constructed with a three …

Considering balancing as starting point in the design of mechanisms and manipulators is
known as inherent balancing. Inherently balanced linkage architectures then form the basis …

This paper presents a gravity-balancing method for a two-degree-of-freedom (2-DoF)
parallel robotic platform with variable payloads. The robotic platform is constructed with a …