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TECHNICAL BRIEFS

A Simple Technique to Passively Gravity-Balance Articulated Mechanisms

[+] Author and Article Information
T. Rahman, W. Harwin

University of Delaware/A.I. duPont Institute, Applied Science and Engineering Laboratories, A.I. duPont Institute, 1600 Rockland Road, P.O. Box 269, Wilmington, DE 19899

R. Ramanathan

A.I. duPont Institute/Drexel University, Applied Science and Engineering Laboratories, A.I. duPont Institute, 1600 Rockland Road, P.O. Box 269, Wilmington, DE 19899

R. Seliktar

Department of Mechanical Engineering and Mechanics, Drexel University, 32nd and Chestnut Streets, Philadelphia, PA 19104

J. Mech. Des 117(4), 655-658 (Dec 01, 1995) (4 pages) doi:10.1115/1.2826738 History: Received February 01, 1995; Revised June 01, 1995; Online December 11, 2007

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.

Copyright © 1995 by The American Society of Mechanical Engineers
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