Design of Spring Mechanisms for Balancing the Weight of Robots
The dynamic analysis of robots highlights the dominating role that gravity has in the balance of energies needed to power them. Currently, most robots are made up of heavy elements rotating around horizontal axes. In this case it seems essential to find the best solutions for balancing gravitational forces, without increasing the inertia of the robot. Some elastic spring mechanisms have already enabled this aim to be achieved, (see bibliography). Some general principles are presented here which allow a more systematic and scientific design of spring balancing mechanisms.
KeywordsScientific Design Elastic Spring Gear Wheel Transmission Radius Straight Portion
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