Principle Verification Study of Load-Sensitive Gravity Compensation Mechanism

We aim to develop a new gravity compensation mechanism using a counterweight system. As the load to be compensated changes, the counterweight moves to the equilibrium position to maintain balance. In addition, the center of gravity of the device equipped with the proposed mechanism can be kept within a very narrow range, thus reducing the risk of tipping over. In this paper, we fabricated a prototype of the proposed mechanism, verified the principle of the mechanism from the prototype, and examined the possibility of mounting the mechanism on the main body.