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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 ...

Designing of spring-balanced linkage mechanisms for gravity compensation is commonly done through an ideal assumption that the springs should have a zero free-length (ZFL). After the design results were generated, the ZFL springs could then be physically implemented on the designed linkages by versatile mechanical arrangement, which, however, will inevitably complicate the mechanism structure. This paper investigates the design performance of gravity compensation (i.e., static balancing) of a spring-balanced inverted slider-crank mechanism that uses realistic practical springs rather than ZFL ...