JRM Vol.31 No.2 pp. 305-316
doi: 10.20965/jrm.2019.p0305


Design Method of Spring Balance Mechanism Through Derivation of General Solution

Kazuki Kaneda*, Hirokazu Yamagata**, and Toshio Morita*

*Keio University
3-14-1 Hiyoshi, Kohoku, Yokohama, Kanagawa 223-8522, Japan

**The University of Tokyo
4-6-1 Komaba, Meguro, Tokyo 153-8505, Japan

June 20, 2018
January 29, 2019
April 20, 2019
gravity compensation, spring-balance mechanism, mechanical gravity canceller, general solution, design method
Design Method of Spring Balance Mechanism Through Derivation of General Solution

Design method of spring-balance mechanism

The present study set out to devise a means of designing a spring-balance mechanism (hereinafter, a SBM) based on a general solution. The goal was to apply a general solution as a guideline for identifying the optimum design solution. A SBM is used to reduce the actuator output in the design of a mechanical device. As a result, the effect of gravity can be offset and energy-saving in operation can be realized. To date, however, SBMs have been designed on a trial and error basis, with a reliance on the designer’s knowledge or experience. Thus, in some instances, it may not be possible to identify a design solution that should, in theory, be achievable. To overcome this issue, this study examined the application of a general solution to the design of a SBM. Such a general solution would identify a solution space including viable design solutions. Subsequently, once a design that satisfies the general solution had been identified, a search could be made of all the design solutions within the solution space. First, the sequence whereby the general solution is used to identify a SBM design that satisfies the general solution, thus providing a guideline for the search action, is determined. Herein, the method used to identify this initial SBM design is presented. The devised method is based on the description of an energy-conservation formula that does not involve any trial and error. The proposed method incorporates a conventional method into the design solution, which can be derived when the conventional method cannot identify a design solution. As a result, a design method using a general solution for the design of an SBM is realized.

Cite this article as:
K. Kaneda, H. Yamagata, and T. Morita, “Design Method of Spring Balance Mechanism Through Derivation of General Solution,” J. Robot. Mechatron., Vol.31, No.2, pp. 305-316, 2019.
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Last updated on May. 20, 2019