...Vu Linh Nguyen This paper presents a multi-objective optimal design method for gravity compensators with consideration of minimizing the joint reaction forces. High performance of the gravity compensation is achieved while the joint reaction forces are kept to a minimum. In this method, the ratio...

... of this article are obtainable from the corresponding author upon reasonable request. static balancing gravity compensation zero-stiffness mechanism robot design gear design mechanism design mechanism synthesis Ministry of Science and Technology, Taiwan 10.13039/501100004663 MOST 110...

... 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...

... for publication in the J ournal of M echanisms and R obotics . 06 11 2020 06 05 2021 06 05 2021 21 07 2021 physical human–robot interaction underactuated redundancy gravity compensation static balancing payload manipulation mechanism design robot design Natural...

... Representations and Characteristics of Variable Kinematic Joints ,” ASME J. Mech. Des. , 128 ( 2 ), pp. 384 – 391 . 10.1115/1.2166854 [19] Arakelian , V. , 2016 , “ Gravity Compensation in Robotics ,” Adv. Rob. , 30 ( 2 ), pp. 79 – 96 . 10.1080/01691864.2015.1090334 [20] Carricato...

...Vu Linh Nguyen; Chyi-Yeu Lin; Chin-Hsing Kuo This paper presents a design concept for gravity compensation of planar articulated robotic arms using a series of gear-slider mechanisms with springs. The spring-attached gear-slider mechanism has one degree-of-freedom (DOF) of motion, which can serve...

...Marco Carricato; Clément Gosselin Gravity compensation of spatial parallel manipulators is a relatively recent topic of investigation. Perfect balancing has been accomplished, so far, only for parallel mechanisms in which the weight of the moving platform is sustained by legs comprising purely...