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A mechanism is described that generates a constant, unidirectional force at any given point on a hinged lever, for all positions of the lever within a full rotation. It is shown how one of several selected geometric parameters of the mechanism may be preadjusted automatically to equilibrate the system, using force feedback from the output load. The constant force generator is introduced into a parallelogram four-bar mechanism, and it is shown that this system may replace links of a kinematic chain to achieve static balancing of the chain plus any additional masses or vertical forces.
R. H. Nathan (Sun,) studied this question.