A simple technique to passively gravity-balance articulated mechanisms

Abstract

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. © 1995 by ASME.