Conceptual Design of a Two-Stage Variable Gravity Compensated Mechanism

  • Win-Bin ShiehEmail author
  • Ching-Kong Chen
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


Conceptual design of a two-stage, gravity-balanced, single articulated system carrying variable payload is presented. Aim of the work is to develop a general energy-free methodology to achieve the equilibrium of the system as the payload mass is changed. Two stages are required in this self-adaptive method: In the constant-mass stage, the system performs as a normal gravity compensated mechanism (GCM) where equilibrium of the system can be achieved at all configurations; while in the variable-mass stage, position of the ground pivot is set free such that the pivot would be automatically moved to a new position as a result of the force balance due to the addition/removal of the mass. Right after the self-adaptive relocation of the pivot, position of the pivot is locked and then a perfect, gravity-balancing system with the new mass prop-erty is regained.


Gravity balancer Variable gravity compensated mechanism VGCM zero spring 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Ming Chi University of TechnologyNew TaipeiTaiwan
  2. 2.National Taipei University of TechnologyTaipeiTaiwan

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