"Performance analysis of gravity-balanced serial robotic manipulators u" by Vu Linh Nguyen, Chin Hsing Kuo et al.
This paper presents a method for analyzing the performance of gravity-balanced serial robotic manipulators under dynamic loads. The analysis is executed by adopting torque, power, and energy reduction indices, which are formulated from unbalanced and balanced states. The significance of this method is that it can provide a comprehensive evaluation of the performance of a gravity-balanced robotic manipulator, with consideration of the dynamic effects. This paper uses a three-degree-of-freedom planar serial manipulator as a case study. The gravity-balanced design for the manipulator is realized ...
Source: uow.edu.au