The static balancing of the industrial robot arms

Static balancing of an inverted pendulum with prestressed torsion bars

“…Other advantages of static balancing include intrinsic safety [2], intuitive manmachine interaction [3,4], backlash reduction due to presstress, and weight reduction of motors and brakes [5]. Because of these advantages static balancing of weight has been proposed in numerous applications, especially in the fields of robotics [6,7,8,9,10], orthotics and assistive devices [11,12,13], and consumer products [14].…”

Gravity compensation of a 6-UPS parallel kinematics machine tool through elastically balanced constant-force generators

“…A solution that satisfies (18)(19)(20)(21)(22)(23)(24)(25)(26)(27)(28)(29)(30) can be found by arbitrarily choosing some parameters and by imposing some algebraic constraints. In particular, by imposing the value of K i1 the following parameters can be determined from (18-21):…”

“…Numerous approaches have been developed for the gravity compensation of both serial and parallel robots [17][18][19][20][21][22][23][24][25][26]. The study deals with static balancing of parallel robots, achieved by making the legs operate as constantforce generators (CFGs), a concept developed in [9,22,27].…”

Adaptive Balancing by Counterweights of Robots and Mechatronic Systems

“…The method of adding the counterweights involves the increasing of moving masses, overall size, inertia and the stresses of the mechanism links [6]. Some of the mechanical systems [1] accept this method because of operating at low or moderate dynamics, from security reasons or in cases where the right spring is difficult and costly to be obtained [2], or the spring balancing solution is too complicated to be fitted to [4].…”

“…If the difference between the load moment and the balancing moment is zero then the system is perfect (exact) balanced in all positions from its work field [6]. If there are only some positions where the difference is zero ( Fig.1.b-discontinuous curve line 3) then an approximate balancing is obtained [7].…”