RoManSy 6 pp 564-567 | Cite as

Design of Spring Mechanisms for Balancing the Weight of Robots

  • J. M. Hervé


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.


Scientific Design Elastic Spring Gear Wheel Transmission Radius Straight Portion 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • J. M. Hervé
    • 1
  1. 1.Ecole Centrale de ParisChâtenay-MalabryFrance

Personalised recommendations