A simple technique to passively gravity-balance articulated mechanisms

T. Rahman, Rungun Nathan, R. Seliktar, W. Harwin

Research output: Contribution to journalArticle

109 Citations (Scopus)

Abstract

A simple method to counter the effects of gravity in articulated mechanisms is proposed. The scheme uses kinematics and linear springs to produce a nonlinear restoring force to oppose the gravitational moment. The method equilibrates a rotational mechanism for all postures. A solution for one link is obtained then general equations for n links are derived. The method is simpler than previous schemes and has applications in robotics, orthotics and a host of everyday mechanisms.

Original languageEnglish (US)
Pages (from-to)655-657
Number of pages3
JournalJournal of Mechanical Design, Transactions Of the ASME
Volume117
Issue number4
DOIs
StatePublished - Jan 1 1995

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Orthotics
Gravitation
Kinematics
Robotics

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

Cite this

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A simple technique to passively gravity-balance articulated mechanisms. / Rahman, T.; Nathan, Rungun; Seliktar, R.; Harwin, W.

In: Journal of Mechanical Design, Transactions Of the ASME, Vol. 117, No. 4, 01.01.1995, p. 655-657.

Research output: Contribution to journalArticle

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