Prismatic gravity compensator for variable payloads

Gravity compensators are passive devices that can lower the energy consumption of lifting systems by reducing the force/torque required from human users or actuators. This paper presents a prismatic gravity compensator for cranes, gantry, and other lifting systems. It is capable of statically balancing payloads between 0.8 kg and 8.7 kg over a stroke of800 mm. The compensator is made of two modules: a constant force and a variable force module. The selection process for the components of each module is presented and a model of the compensator and its modules is developed. The impact of friction is also studied, and a strategy is proposed to still achieve balancing for various payloads.

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