Static balancing of planar articulated robots

Static balancing for a manipulator's weight is necessary in terms of energy saving and performance improvement. This paper proposes a method to design balancing devices for articulated robots in industry, based on robotic dynamics. Full design details for the balancing system using springs are presented from two aspects: One is the optimization for the position of the balancing system;the other is the design of the spring parameters. As examples, two feasible balancing devices are proposed,based on different robotic structures: The fi rst solution consists of linkages and springs; the other consists of pulleys, cross mechanisms and(hydro-) pneumatic springs. Then the two solutions are compared. Pneumatic,hydro-pneumatic and mechanical springs are discussed and their parameters are decided according to the requirements of torque compensation. Numerical results show that with the proper design using the methodology presented in this paper, an articulated robot can be statically balanced perfectly in all con fi gurations. This paper therefore provides a design method of the balancing system for other similar structures.