Cho, Changhyun Lee, Woosub Lee, Jinyi Kang, Sungchul 2024-01-20T14:03:22Z 2024-01-20T14:03:22Z 2021-09-05 2012-09 1738-494X https://pubs.kist.re.kr/handle/201004/128934 This paper presents a 2-dof gravity compensator used for roll-pitch rotations, which are often applied to the shoulder joint of a service or humanoid robot. The 2-dof gravity compensator is comprised of two 1-dof gravity compensators and a bevel differential. The rollpitch rotations are decoupled into two rotations on the moving link by the bevel differential; the two 1-dof gravity compensators are applied to the two rotations. The spring coefficients are determined through energy and torque analyses in order to achieve complete static balancing. The experiment results indicate that the proposed gravity compensator effectively counterbalances the gravitational torques and can also be operated in the hemispherical work space. English KOREAN SOC MECHANICAL ENGINEERS DESIGN A 2-dof gravity compensator with bevel gears Article 10.1007/s12206-012-0709-8 1 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.26, no.9, pp.2913 - 2919 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY 26 9 2913 2919 scie scopus kci ART001689674 000308819500033 2-s2.0-84866439953 Engineering, Mechanical Engineering Article DESIGN Bevel gears Gravity compensation Manipulator Static balancing