A simple technique to passively gravity-balance articulated mechanisms

T. Rahman; R. Ramanathan; R. Seliktar; W. Harwin

doi:10.1115/1.2826738

A simple technique to passively gravity-balance articulated mechanisms

T. Rahman, R. Ramanathan, R. Seliktar, W. Harwin

Division of Engineering, Business & Computing (Berks)

Research output: Contribution to journal › Article › peer-review

161 Scopus citations

Abstract

A simple method to counter the effects of gravity in articulated mechanisms is proposed. The scheme uses kinematics and linear springs to produce a nonlinear restoring force to oppose the gravitational moment. The method equilibrates a rotational mechanism for all postures. A solution for one link is obtained then general equations for n links are derived. The method is simpler than previous schemes and has applications in robotics, orthotics and a host of everyday mechanisms.

Original language	English (US)
Pages (from-to)	655-657
Number of pages	3
Journal	Journal of Mechanical Design, Transactions of the ASME
Volume	117
Issue number	4
DOIs	https://doi.org/10.1115/1.2826738
State	Published - Dec 1995

All Science Journal Classification (ASJC) codes

Mechanics of Materials
Mechanical Engineering
Computer Science Applications
Computer Graphics and Computer-Aided Design

Access to Document

10.1115/1.2826738

Cite this

@article{6d643c0ed5d84e56b2613a8a806e152b,

title = "A simple technique to passively gravity-balance articulated mechanisms",

abstract = "A simple method to counter the effects of gravity in articulated mechanisms is proposed. The scheme uses kinematics and linear springs to produce a nonlinear restoring force to oppose the gravitational moment. The method equilibrates a rotational mechanism for all postures. A solution for one link is obtained then general equations for n links are derived. The method is simpler than previous schemes and has applications in robotics, orthotics and a host of everyday mechanisms.",

author = "T. Rahman and R. Ramanathan and R. Seliktar and W. Harwin",

year = "1995",

month = dec,

doi = "10.1115/1.2826738",

language = "English (US)",

volume = "117",

pages = "655--657",

journal = "Journal of Mechanical Design, Transactions of the ASME",

issn = "1050-0472",

publisher = "American Society of Mechanical Engineers (ASME)",

number = "4",

}

TY - JOUR

T1 - A simple technique to passively gravity-balance articulated mechanisms

AU - Rahman, T.

AU - Ramanathan, R.

AU - Seliktar, R.

AU - Harwin, W.

PY - 1995/12

Y1 - 1995/12

N2 - A simple method to counter the effects of gravity in articulated mechanisms is proposed. The scheme uses kinematics and linear springs to produce a nonlinear restoring force to oppose the gravitational moment. The method equilibrates a rotational mechanism for all postures. A solution for one link is obtained then general equations for n links are derived. The method is simpler than previous schemes and has applications in robotics, orthotics and a host of everyday mechanisms.

AB - A simple method to counter the effects of gravity in articulated mechanisms is proposed. The scheme uses kinematics and linear springs to produce a nonlinear restoring force to oppose the gravitational moment. The method equilibrates a rotational mechanism for all postures. A solution for one link is obtained then general equations for n links are derived. The method is simpler than previous schemes and has applications in robotics, orthotics and a host of everyday mechanisms.

UR - http://www.scopus.com/inward/record.url?scp=0029510995&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0029510995&partnerID=8YFLogxK

U2 - 10.1115/1.2826738

DO - 10.1115/1.2826738

M3 - Article

AN - SCOPUS:0029510995

SN - 1050-0472

VL - 117

SP - 655

EP - 657

JO - Journal of Mechanical Design, Transactions of the ASME

JF - Journal of Mechanical Design, Transactions of the ASME

IS - 4

ER -

A simple technique to passively gravity-balance articulated mechanisms

Abstract

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this