A New Class of Spring Four-Bar Mechanisms for Gravity Compensation
Publication Name
Mechanisms and Machine Science
Abstract
This paper presents a new class of spring four-bar mechanisms, with fifty-six different mechanism types, for gravity compensation. A synthesized mechanism is realized by linkage combination with a planar four-bar linkage and attachment of a linear spring. The main advantages of the proposed spring mechanisms are their simple architectures and high performances that possess great potential for practical applications. The parameters of the mechanisms for gravity compensation are derived from an optimization approach. Numerical examples are given to demonstrate the performances of the proposed spring mechanisms. The simulation results showed that the motor torques of the mechanisms could be reduced by up to ninety-nine percent with the spring attachment.
Open Access Status
This publication is not available as open access
Volume
113 MMS
First Page
302
Last Page
312
Funding Number
MOST 110-2222-E-167-004
Funding Sponsor
Ministry of Science and Technology, Taiwan