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Robotics 2018, 7(4), 68;

Adaptive Balancing of Robots and Mechatronic Systems

Mechanical Engineering and Mechatronics Department, Politehnica University of Bucharest, 060042 Bucharest, Romania
Received: 16 September 2018 / Revised: 29 October 2018 / Accepted: 2 November 2018 / Published: 7 November 2018
(This article belongs to the Special Issue Kinematics and Robot Design I, KaRD2018)
PDF [3504 KB, uploaded 7 November 2018]


Present paper is dealing with the adaptive static balancing of robot or other mechatronic arms that are rocking in vertical plane and whose static loads are variable, by using counterweights and springs. Some simple passive and approximate solutions are proposed, and an example is shown. The results show that a very simple passive solution which is using for gravity compensation a simple translational counterweight (that could be for example the actuating motor itself) articulated by one single bar leads to very good results in case of approximate balancing when the payload has a known variation. View Full-Text
Keywords: adaptive; balancing; counterweight; mechatronic system; robot adaptive; balancing; counterweight; mechatronic system; robot

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Ciupitu, L. Adaptive Balancing of Robots and Mechatronic Systems. Robotics 2018, 7, 68.

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