Cho, C. Lee, W. Kang, S. 2024-01-12T07:21:52Z 2024-01-12T07:21:52Z 2022-03-07 2010-07 0000-0000 https://pubs.kist.re.kr/handle/201004/80847 This paper proposes a gravity compensator for the roll-pitch rotation which can be operated in hemispherical work space. The gravity compensator comprises two 1-dof gravity compensators and a bevel differential. It is revealed from analyses of energy and torque that the proposed gravity compensator can perform static balancing completely. The gravity compensation of a 4-dofs manipulator is briefly introduced for example. Experiments show that the proposed compensator can counterbalance the gravitational torques effectively and can be operated in hemispherical work space. ？ 2010 IEEE. English IEEE Static balancing of a manipulator with hemispherical work space Conference 10.1109/AIM.2010.5695757 1 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010, pp.1269 - 1274 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010 1269 1274 US Montreal, QC 2010-07-06 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2-s2.0-79951631326