Quasi-exact linear spring countergravity system for roboticmanipulators

Jose L Pons*, R. Ceres, A. R. Jiménez

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

9 Scopus citations


A new quasi-exact linear spring counterbalancing system for general manipulators is theoretically stated and experimentally tested on a parallelogram manipulator. The effect of configuration parameters on developed balancing torque is studied, which gives insight into possible active application of the presented configuration. Quasi-exact balancing of gravitational torque is achieved without any assumption on initial spring length thus avoiding classical shortcomings arising from perfect spring equilibrator theory.

Original languageEnglish (US)
Pages (from-to)59-70
Number of pages12
JournalMechanism and Machine Theory
Issue number1-2
StatePublished - 1998

ASJC Scopus subject areas

  • Bioengineering
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications


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