A simple technique to passively gravity-balance articulated mechanisms

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

Research output: Contribution to journalArticlepeer-review

158 Scopus citations


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 languageEnglish (US)
Pages (from-to)655-657
Number of pages3
JournalJournal of Mechanical Design, Transactions of the ASME
Issue number4
StatePublished - Dec 1995

All Science Journal Classification (ASJC) codes

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


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