.... The mechanism is tuned to achieve static balancing, reaching a near-zero stiffness over much of its range. The pseudo-rigid body model and two-dimensional (2D) finite element model (FEM) are combined defining a fast method to dimension the system. The 3D FEM is simulated to validate the obtained results...

... balanced. In the proposed method, the parameters of the GSB are derived from solving the identity problem of perfect static balancing. The significance of this method is that it enables the GSB to handle variable payloads via energy-free adjustment and allows the selection of spring stiffness...

... of M echanisms and R obotics . 02 08 2021 09 11 2021 16 11 2021 09 12 2021 kinetostatic reliability analysis design optimization static balancing gravity compensation quasizero-stiffness mechanism robot design The gravity balancing of robotic manipulators...

... ungrounded springs. The force–deflection characteristic of this linkage architecture showed statically balanced behavior in both symmetric and asymmetric actuation. Using modal analysis, it was shown that the sum of the decomposed strain energy per buckling mode is constant throughout the motion range...

... manipulate a payload undergoing 3-DoF spatial rotations by adding a third rotational axis oriented in the direction of gravity. The static equilibrium equations of the 2-DoF architecture are first described in order to provide the required configuration of the counterweights for a statically balanced...

...Chin-Hsing Kuo; Vu Linh Nguyen; Daniel Robertson; Lin-Tien Chou; Just L. Herder This paper presents the static balancing design of a special reconfigurable linkage that can switch between two one-degree-of-freedom (DoF) working configurations. We will show that the studied dual-mode linkage only...

...Jorge A. Franco; Juan A. Gallego; Just L. Herder A design approach for the quasi-static balancing of four-bar linkages with torsion springs is proposed. Such an approach is useful in the design of quasi-statically balanced fully compliant mechanisms by tuning the stiffness of the pseudo-rigid-body...

...P. R. Kuppens; M. A. Bessa; J. L. Herder; J. B. Hopkins Stiffness in compliant mechanisms can be dramatically altered and even eliminated entirely by using static balancing. This requires elastic energy to be inserted before operation, which is most often done with an additional device...

... , “ Gravity Compensation of Robotic Manipulators Using Cylindrical Halbach Arrays ,” IEEE/ASME Trans. Mechatronics , 22 ( 1 ), pp. 457 – 464 . 10.1109/TMECH.2016.2614386 [6] Carricato , M. , and Gosselin , C. , 2009 , “ A Statically Balanced Gough/Stewart-Type Platform: Conception, Design...

... mechanism including the parallelogram linkage and the parallel mechanism can be statically balanced at any configuration within the workspaces by using common linear springs. In other words, no electrical actuation or mechanical locks are required for making the laparoscope rest at any position...

...Karin Hoetmer; Geoffrey Woo; Charles Kim; Just Herder In some applications, nonconstant energy storage in the flexible segments of compliant mechanisms is undesired, particularly when high efficiency or high-fidelity force feedback is required. In these cases, the principle of static balancing can...

... and mechanical designs of a balanced Gough/Stewart-type manipulator, in which the weight of the platform is entirely sustained by the legs comprising the extensible jacks. By the integrated action of both elastic elements and counterweights, each leg is statically balanced and it generates, at its tip...