A stiffness matrix approach for the design of statically balanced planar articulated manipulators

DOI10.1016/J.MECHMACHTHEORY.2010.08.003zbMath1377.70009OpenAlexW1992965355MaRDI QIDQ613955

Dar-Zen Chen, Po-Yang Lin, Win-Bin Shieh

Publication date: 23 December 2010

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL: http://ntur.lib.ntu.edu.tw/bitstream/246246/244229/-1/319.pdf

zbMATH Keywords

articulated manipulatorstatic balancestiffness block matrixzero-free-length spring

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Cites Work

• Gravity-balancing of spatial robotic manipulators
• Improvement of balancing accuracy of robotic systems: Application to leg orthosis for rehabilitation devices

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