A machine moving vertically requires strong gravitational resistance. Gravity compensation mechanisms devised to reduce actuator force mostly compensate for constant weight, but practical use requires that the mechanism compensate for weight variations. This paper presents a Variable Gravity Compensation Mechanism (VGCM) that uses two types of linear springs and changes the equilibrium position of one. The mechanism principle is described and the prototype is designed. Performance is experimentally confirmed.
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Takesue et al. (2011) studied this question.
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