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Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031003.
Published Online: June 21, 2010
...Po-Yang Lin; Win-Bin Shieh; Dar-Zen Chen A novel methodology for the design of a gravity-balanced serial-type spatial manipulator is presented. In the design, gravity effects of the system can be completely compensated at any configuration. The gravity balance of the n -DOF manipulator is achieved...