Скачать или смотреть An auto-balancing gravity balancer with adjustable payload

This video presents a single-DoF gravity balancer that can deal with variable payload without requesting manual or other auxiliary adjustment. The proposed design is an integration of two mechanism modules, i.e., a standard spring-based statically-balanced mechanism and a spring adjusting mechanism. A tensile spring is attached to the statically balanced mechanism for balancing the payload, and its installation points are controlled by two cables, which are driven by the spring adjusting mechanism. When different payloads are applied, the spring adjusting mechanism will act to regulate the spring installation points to suitable places such that the overall potential energy of the mechanism and the (variable) payload remains constant within the workspace of the balancer.