Counter Balancing System For Revolute Joint
Original Publication Date: 1982-Feb-01
Included in the Prior Art Database: 2005-Feb-08
The off-axis loading of a rotary axis, namely, the pitch axis of a hydraulic manipulator, causes many difficulties. The geometry of the system is shown in Fig. 1A where a mass of weight "W" is attached, by an arm "R", to a shaft that is the power-driven pitch axis of the manipulator. When no torque is applied to the shaft, the weight is down; thus, the static position of R is vertical. When the shaft is rotated from the zero position. W produces a restoring torque according to the relation T(RES) equals W.R. sin phi, which is graphed in Fig. 1B. It is desirable in some instances to be able to have W remain at any position of Phi when no power is applied to the shaft from a servo system.