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IFToMM Asian conference on Mechanism and Machine Science

ASIAN MMS 2021: Advances in Asian Mechanism and Machine Science pp 302–312Cite as

A New Class of Spring Four-Bar Mechanisms for Gravity Compensation

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Part of the Mechanisms and Machine Science book series (Mechan. Machine Science,volume 113)

Abstract

This paper presents a new class of spring four-bar mechanisms, with fifty-six different mechanism types, for gravity compensation. A synthesized mechanism is realized by linkage combination with a planar four-bar linkage and attachment of a linear spring. The main advantages of the proposed spring mechanisms are their simple architectures and high performances that possess great potential for practical applications. The parameters of the mechanisms for gravity compensation are derived from an optimization approach. Numerical examples are given to demonstrate the performances of the proposed spring mechanisms. The simulation results showed that the motor torques of the mechanisms could be reduced by up to ninety-nine percent with the spring attachment.

Keywords

  • Gravity compensation
  • Static balancing
  • Mechanism synthesis
  • Planar four-bar linkage
  • Zero-stiffness mechanism

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Acknowledgment

This paper was supported by the Ministry of Science and Technology (MOST), Taiwan (grant number MOST 110-2222-E-167-004).

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, National Chin-Yi University of Technology, Taichung, 411030, Taiwan

    Vu Linh Nguyen

  2. School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong, NSW, 2522, Australia

    Chin-Hsing Kuo

  3. Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei, 10607, Taiwan

    Po Ting Lin

  4. Center for Cyber-Physical System Innovation, National Taiwan University of Science and Technology, Taipei, 10607, Taiwan

    Po Ting Lin

Authors
  1. Vu Linh Nguyen
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  2. Chin-Hsing Kuo
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  3. Po Ting Lin
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Corresponding author

Correspondence to Vu Linh Nguyen .

Editor information

Editors and Affiliations

  1. Department of Applied Mechanics, Hanoi University of Science and Technology, Hanoi, Vietnam

    Prof. Nguyen Van Khang

  2. Department of Applied Mechanics, Hanoi University of Science and Technology, Hanoi, Vietnam

    Prof. Nguyen Quang Hoang

  3. Department of Industrial Engineering, University of Rome Tor Vergata, Rome, Italy

    Prof. Marco Ceccarelli

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Nguyen, V.L., Kuo, CH., Lin, P.T. (2022). A New Class of Spring Four-Bar Mechanisms for Gravity Compensation. In: Khang, N.V., Hoang, N.Q., Ceccarelli, M. (eds) Advances in Asian Mechanism and Machine Science. ASIAN MMS 2021. Mechanisms and Machine Science, vol 113. Springer, Cham. https://doi.org/10.1007/978-3-030-91892-7_28

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  • DOI: https://doi.org/10.1007/978-3-030-91892-7_28

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