Original Publication Date: 1987-Sep-01
Included in the Prior Art Database: 2005-Feb-01
A technique is described whereby a mechanism counterbalances an overhung load, without significantly adding to rotary inertia, so as to decrease load power positioning requirements. The counterbalance mechanism enables accurate positioning control of linkages moving in a vertical plane about a horizontal axis. It eliminates the need for a powerful motor to overcome gravitational forces, as was required in the prior art. The mechanism is particularly useful in shoulder joint robotic manipulator applications. Typically, robotic control linkages must be designed to accurately and to quickly position arm mechanisms despite gravitational loads, which can vary as a function of the position of the linkages.