We propose a passive gravity compensation mechanism with a slider crank mechanism and a compression spring. The device has several advantages. First, the new mechanism generates accurate weight compensation torque, because it consists of roddriven mechanism. Second, the new mechanism can be installed into heavy manipulators or carry heavy loads while ensuring high rigidity and safety.


TasKi : Eliminates burden of raising arms, James Dyson award 2016
   • TasKi  : 腕への必要最低限のアシスト力を提供するロボットスーツ  


Compact type Gravity Compensation Device
   • 省スペース自重補償機構 : Compact type Gravity Co...  

GravityCompensation
mechanism
balancemechanism