A review on passive gravity compensation

摘要

An articulated robot arm with multiple links will spend most of its energy on carrying its own weight when it works against gravity. A gravitational torque occurs due to the mass of the robot links and the payload, but most of the gravitational torque is caused by the mass of the robot links. This degrades the dynamic performance and ability to withstand external forces. In the presented review work, attention is mainly focused on various passive gravity compensation methods with the help of which desired performance is achieved.