Static balancer for the rectilinear motion

This paper presents static balancers for a rectilinear motion using springs. A slider-crank mechanism is adopted as a base mechanism and is considered as a two-link and two-dof (degree of freedom) manipulator with an external load at the end-effector. The design of a gravity compensator is considered as mapping unit spring balancers to the slider-crank mechanism. The kinematic synthesis method on the basis of the space mapping is applied to design gravity compensators and a gravity compensator with two unit spring balancers (or gravity compensators) is obtained. One unit spring balancer is located at the base and the other spring balancer is equipped at a parallelogram.