Gravity-balancing of spatial robotic manipulators

摘要: This paper describes the underlying theory of gravity balanced spatial robotic manipulators through a hybrid strategy which uses springs in addition to identification center mass using auxiliary parallelograms. A significant contribution this is show that with fixed ends are sufficient balance mechanism if method balancing used where identified first Also, system remains even orientation base changed, i.e., direction changed respect base. Although can be applied n link serial manipulators, we apply for compensation two and three degrees-of-freedom (DOF) manipulators. prototype principles was fabricated at University Delaware.