Gravity Compensation Device for serial link mechanism

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 rod-driven 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...
Compact type Gravity Compensation Device
• 省スペース自重補償機構 : Compact ...
＃GravityCompensation
＃mechanism
＃balancemechanism

[@adhidwipa6027]

Looks very stable. Love the way mimicking actuator works.

[@va7795]

can you tell how to calculate the spring for the device?

[@BlenderPhysics]

Did you already find the anwer? Having this question as well!

[@va7795]

@@BlenderPhysics I tried, but the manufactured product didn't work out very well