Mechanisms and Dynamic Systems

The increasing application of industrial robots in different fields of technology augments the demand for further improvement of their performance. Energy consumption and working accuracy especially are becoming more and more important in assessing the efficiency of a robot. One way to improve these factors is the proper balancing of a robot manipulator. There are two main methods of balancing a robot manipulator: 1) by spring mechanisms or 2) by counterweights [1,2]. The problem of the optimum design of a robot spring balancing mechanism is discussed in Chapter 5.2. In this chapter, counterweight balancing of robot arms is the subject of investigation.

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