Design of gravity compensators using the Stephenson and Watt mechanisms

摘要: Abstract This paper evaluates the design method for a gravity compensator using associated linkages. For conventional methods kinematics and potential energy of every mechanism should be computed to static balancer. proposed method, however, no computations are necessary obtain balancers various mechanisms, once balancer an linkage has been designed. The deletion rules (i.e., transformation relations) derived with concept linkage. Stephenson Watt linkages adopted as that contain ternary links multi-loops. Gravity compensators designed based on space mapping method. When link becomes slider, several unit attached at can merged into equivalent compensator. In consideration compensator, new rule is introduced incorporated in set original rules. Various applying Performances evaluated simulations.