Spatial static gravity balancing with ideal springs

Freek L.S. te Riele*, Just L. Herder, Edsko E.G. Hekman

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    1 Citation (Scopus)


    This paper discusses mechanisms that allow for perfect static balancing of rotations about a fixed spherical joint by means of ideal springs. Using a potential energy consideration, balancing conditions of a spatial three-spring balancer will be derived. It will be shown that not satisfying these conditions causes nonconstant terms in the potential energy expression of the springmechanism, which can be eliminated by coupling the springmechanism to an inverted pendulum.

    Original languageEnglish
    Title of host publicationASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
    Subtitle of host publication28th Biennial Mechanisms and Robotics Conference, Parts A and B
    PublisherAmerican Society of Mechanical Engineers (ASME)
    Number of pages8
    ISBN (Electronic)0-7918-3742-4
    ISBN (Print)0-7918-4695-4
    Publication statusPublished - 1 Dec 2004
    Event28th Biennial Mechanisms and Robotics Conference 2004 - Salt Lake City, United States
    Duration: 28 Sep 20042 Oct 2004


    Conference28th Biennial Mechanisms and Robotics Conference 2004
    Abbreviated titleDECT
    Country/TerritoryUnited States
    CitySalt Lake City


    • Gravity equilibrator
    • Rehabilitation technology
    • Rolling link mechanisms
    • Spatial
    • Static balance


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