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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 sp...

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 realized by an analytical approximation to perfect balancing. A design example for an industrial Delta robo...