...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...

.... Thus, spring forces can be determined by a chosen set of stiffness and attached lengths of springs, and the joint reaction force can then be determined. Example figures of 3-degrees-of-freedom (DOFs) manipulators show that joint reaction forces are reduced by 22.6%, 40.1%, and 75.7% at joints 1, 2...