A simple technique to passively gravity-balance articulated mechanisms

@article{Rahman1995AST,
  title={A simple technique to passively gravity-balance articulated mechanisms},
  author={Tariq Rahman and Rungun Ramanathan and Rami Seliktar and William S. Harwin},
  journal={Journal of Mechanical Design},
  year={1995},
  volume={117},
  pages={655-658}
}
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. 

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