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Keywords: anthopomorphic robot arm
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Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 643-651, September 10–13, 2000
Paper No: DETC2000/MECH-14120
... by a single spring. When link and spring masses are considered, rather than just the payload, the latter configuration needs an additional spring or a slight alteration of its structure for complete balance. static balance spring mechanism gravity equilibrator anthopomorphic robot arm arm orthosis...