Very often, spring-to-gravity-balancing mechanisms are conceived with ideal (zero-free-length l0=0) springs. However, the use of ideal springs in the conception phase tends to lead to more complex mechanisms because the ideal spring functionality has to be approximated with normal springs. To facilitate construction of (gravity) balancers, employing normal springs (l0≠0) directly mounted between the link attachment points of the mechanism in the conception phase therefore seems beneficiary. This paper discusses spring mechanisms that enable perfect balancing of gravity acting on an inverted pendulum while employing normal springs between the spring-attachment points: The design synthesis of such mechanisms will be explained and balancing conditions will be derived, using a potential energy consideration.
- Design Engineering Division and Computers and Information in Engineering Division
Planar and Spatial Gravity Balancing With Normal Springs
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te Riele, FLS, Hekman, EEG, & Herder, JL. "Planar and Spatial Gravity Balancing With Normal Springs." Proceedings of the ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B. Salt Lake City, Utah, USA. September 28–October 2, 2004. pp. 415-424. ASME. https://doi.org/10.1115/DETC2004-57164
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