Abstract
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 language | English (US) |
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Pages (from-to) | 59-70 |
Number of pages | 12 |
Journal | Mechanism and Machine Theory |
Volume | 33 |
Issue number | 1-2 |
DOIs | |
State | Published - 1998 |
ASJC Scopus subject areas
- Bioengineering
- Mechanics of Materials
- Mechanical Engineering
- Computer Science Applications