A SIMPLE TECHNIQUE TO PASSIVELY GRAVITY-BALANCE ARTICULATED MECHANISMS

Authors
RAHMAN T RAMANATHAN R SELIKTAR R HARWIN W
Citation
T. Rahman et al., A SIMPLE TECHNIQUE TO PASSIVELY GRAVITY-BALANCE ARTICULATED MECHANISMS, Journal of mechnical design, 117(4), 1995, pp. 655-658
Citations number
7
Categorie Soggetti
Engineering, Mechanical
Journal title
Journal of mechnical design → ACNP
ISSN journal
10500472
Volume
117
Issue
4
Year of publication
1995
Pages
655 - 658
Database
ISI
SICI code
1050-0472(1995)117:4<655:ASTTPG>2.0.ZU;2-Q
Abstract
A simple method to counter the effects of gravity in articulated mecha nisms is proposed. The scheme uses kinematics and linear springs to pr oduce a nonlinear restoring force to oppose the gravitational moment. The method equilibrates a rotational mechanism for all postures. A sol ution for one link is obtained then general equations for n links are derived. The method is simpler than previous schemes and has applicati ons in robotics, orthotics and a host of everyday mechanisms.