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 …

Though passive gravity-force compensation or weight balancing technology has existed for
centuries, novel system designs and new applications have been emerging in the past two …

A new class of six-degree-of-freedom (DOFs) spatial parallel platform mechanism is
considered in this paper. The architecture consists of a mobile platform connected to the …

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 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 proposes a new solution to the problem of torque minimization of spatial parallel
manipulators. The suggested approach involves connecting a secondary mechanical …

Static balancing through passive devices is a suitable strategy to reduce motor loads for
numerous applications in the automation and robotics fields. Many known methods require …

This book has evolved from the passionate desire of the authors in using the modern
concepts of multibody dynamics for the design improvement of the machineries used in the …

This paper discusses the development of reactionless 3-RRR planar parallel manipulators,
which apply no reaction forces or moments to the mounting base during motion. Design …

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 …