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 …

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 …

Passively compensating a payload weight requires a mechanism that can generate a
nonlinear torque curve. Existing gravity-balancing mechanisms (GBMs) rely on linear or …

Gravity compensation (sometimes referred to as static balancing) is achieved in a
mechanism when the weight of its moving links does not produce any torque at the actuators …

This paper presents a 7-DOF partially statically balanced robot that has been developed for
physical human robot interaction. The gravity compensation technique uses remote …

Gravity compensation of spatial parallel manipulators is a relatively recent topic of
investigation. Perfect balancing has been accomplished, so far, only for parallel …

Adaptive balancing is a technique that brings some modifications to unbalanced
mechanisms in such a way to obtain static balancing and complete decoupling of dynamic …

An optimum design of an industrial robot can be achieved from different point of views. For
example, a robot can be conceived from the standpoint achieving maximum workspace or …

This paper investigates the influence of two common techniques of static balancing on the
dynamic performance of closed-chain linkages, by taking into account the flexibility of the …

A fully actuated system can execute any joint trajectory. However, if the system is
underactuated, not all joint trajectories are attainable. For such systems, it is difficult to …