Abstract: This paper proposes a general approach for designing spatial statically balanced mechanisms with articular joints utilizing ideal zero-free-length springs. The proposed statically balanced mechanism ...

Abstract: A novel methodology for the design of a gravity-balanced serial-type spatial manipulator is presented. In the design, gravity effects of the system can be completely compensated at any configuration. ...

Abstract: A systematic methodology for the design of a statically balanced, single degree-of-freedom planar linkage is presented. This design methodology is based on the concept of conservation of potential ...