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"Gravity Compensation of Delta Parallel Robot Using a Gear-Spring Mecha" by Vu Linh Nguyen, Chin Hsing Kuo et al.

Abstract This paper presents a design concept for the gravity compensation of the renowned Delta parallel robot. The design is constructed by using three gear-spring modules, each being installed on the proximal link of each leg of the robot. This implementation can allow the balancing design to merely request a relatively small assembly space on the robot, thereby avoiding mechanical interference between the supplemental structures and robot links during operation. The spring design is realize...
Gravity Compensation Robot Performance Tatic Balancing
Source: uow.edu.au

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