The actuator power required to resist joint torque caused by the weight of robot links can be
a significant problem. Gravity compensation is a well-known technique in robot design to …

A fully compliant constant-force mechanism that uses an initially angled parallel-guiding
mechanism is proposed. A pseudo-rigid-body model (PRBM) of the mechanism is …

The development and control of variable stiffness actuators (VSAs) led to the capability of
embodying physical principles of safety and energy-efficiency compared to traditional stiff …

In this book advanced balancing methods for planar and spatial linkages, hand operated
and automatic robot manipulators are presented. It is organized into three main parts and …

This Chapter reviews the literature on gravity balancing for parallel robots by using so-called
constant-force generators. Parallel robots are formed by several kinematic chains …

This paper studies the underlying theory of weight-balanced mechanism for the design of a
class of spatial mobile arm support (MAS), a spring assistive MAS. Conventional designs of …

A linkage of rigid bodies under gravity loads can be statically counter-balanced by adding
compensating gravity loads. Similarly, gravity loads or spring loads can be counter-balanced …

In this paper, we propose static-balancing mechanisms to permit perfect and approximate
compensation of gravitational loads for an articulated-cable leg-orthoses. Such gravity …

The balancing of robotic systems is an important issue because it allows significant
reduction of torques. However the literature review shows that the gravity balancing of …

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 …