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Review, Categorization and Comparison of 1 DOF Static Balancers

[+] Author Affiliations
Asthor T. Steinthorsson, Milton E. Aguirre, Gerard Dunning, Just L. Herder

Technical University of Delft, Delft, Netherlands

Paper No. DETC2015-47217, pp. V05AT08A018; 9 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 39th Mechanisms and Robotics Conference
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5712-0
  • Copyright © 2015 by ASME


A static balancer is a mechanism used to force compensate mechanical systems and has been used in applications such as improving haptic feedback in surgical instruments and lowering motor loads in robotic systems. Currently no complete overview exists of all SB methods, this paper can be seen as an extension to earlier work by introducing more static balancing categories and methods. The goal is to have a comprehensive overview of state-of-the-art to aid designers in selecting the appropriate static balancer technology for mechanical systems. Existing designs are categorized based on the energy storage mechanism, e.g. elastic energy storage mechanisms. Critical design parameters are extracted from published literature to form the basis of comparison of the different categories. A performance criterium is defined to illustrate balancing capabilities as a function of system size. The three comparison parameters are: Display FormulaCompensatedForceVolume,SBStrokeVolume,EnergyVolume The comparison results show that compliant flexure balancers are the best selection for balancing systems while keeping minimal size. Theoretical calculations show that there is still ample room to improve current balancers with regard to the chosen balancer criteria.

Copyright © 2015 by ASME



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