Cho, Chang-Hyun Lee, Woosub 2024-01-20T04:01:00Z 2024-01-20T04:01:00Z 2021-09-05 2016-07 0094-114X https://pubs.kist.re.kr/handle/201004/123898 This paper proposes a design method of a static balancer with multi-dof unit gravity compensators. The design method based on the space mapping method is extended to a multi-dof gravity compensator space. A multi-dof gravity compensator can be equivalently represented with one-dof gravity compensators applying the design method. An equivalent mapping matrix is determined between rotation angles of a multi-dof gravity compensator and those of one-dof gravity compensators. That is, characteristics of a multi-dof gravity compensator are described in the one-dof gravity compensator space. Complexity and variety originated from the multi-dof can be overcome using the equivalent mapping matrix during designing a static balancer with multi-dof gravity compensators. The design of a static balancer with multi-dof gravity compensators is conducted: 1. perform the design only with the one-dof gravity compensator space to determine the base mapping matrix between the joint and the one-dof gravity compensator space, 2. applying the equivalent mapping matrix to the base mapping matrix. Various designs are obtained. Results of simulations show that the total potential energy is invariant for all poses. (C) 2016 Elsevier Ltd. All rights reserved. English PERGAMON-ELSEVIER SCIENCE LTD GRAVITY MECHANISM Design of a static balancer with equivalent mapping Article 10.1016/j.mechmachtheory.2016.02.017 1 MECHANISM AND MACHINE THEORY, v.101, pp.36 - 49 MECHANISM AND MACHINE THEORY 101 36 49 scie scopus 000374341200003 2-s2.0-84962053934 Engineering, Mechanical Engineering Article GRAVITY MECHANISM Static balancer Gravity compensator Spring Design method Space mapping