Design and Fabrication of an Active Gravity Balanced Planar Mechanism Using Auxiliary Parallelograms

[+] Author and Article Information
Sunil K. Agrawal, Glenn Gardner, Stephen Pledgie

Mechanical Systems Laboratory, Department of Mechanical Engineering, University of Delaware, Newark, DE 19716

J. Mech. Des 123(4), 525-528 (Nov 01, 1999) (4 pages) doi:10.1115/1.1413771 History: Received November 01, 1999
Copyright © 2001 by ASME
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Grahic Jump Location
The construction of the auxiliary parallelograms for a series chain with three links
Grahic Jump Location
The graph corresponding to the augmented system for a series chain with three links
Grahic Jump Location
The graph corresponding to the augmented system for a series chain with n links
Grahic Jump Location
A camera image of gravity balanced 3-link series chain augmented with parallelograms
Grahic Jump Location
Desired and controller achieved center of mass location (solid: desired, dot: controller achieved) for the three encoder angles during a continuous motion




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