Abstract: The design of mechanisms for the static balancing of a rotating and weight-varying link has tremendous implications for mechanical structures and robotic systems. This article presents a compact gear-spring mechanism (CGSM) ...

Abstract: This paper presents a method for realizing a gearspring balancer (GSB) that can cope with variable payloads and its application to serial robots. The GSB is constructed with a threegear train articulating a nonzerofreelength ...

Abstract: This paper presents a gravity-balancing method for a two-degree-of-freedom (2-DoF) parallel robotic platform with variable payloads. The robotic platform is constructed with a parallelogram-based five-bar parallel mechanism, ...

Abstract: This paper presents a method for realizing a gear-spring balancer (GSB) that can cope with variable payloads and its application to serial robots. The GSB is constructed with a three-gear train articulating a nonzero-free-length ...

Abstract: 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 ...

Abstract: This article proposes a method for analyzing the gravity balancing reliability of spring-articulated serial robots with uncertainties. Gravity balancing reliability is defined as the probability that the torque reduction ...

Abstract: 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 ...

Abstract: 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 ...