04753128 is referenced by 29 patents and cites 9 patents.

A robot including a balancing mechanism or balancer with a compression spring which flexes to compensate for the gravitational moment between an arm assembly and a base of the robot. The compression spring is chosen to have a force-deflection characteristic to account for the gravitational moment and the geometry of the mechanism. The arm assembly has a pivotal connection which pivotally supports the arm assembly on the base of the robot for movement about a pivotal axis. The mechanism can be adjusted for various arm assembly lengths and/or payloads. The mechanism includes a spring support, a connecting rod having a longitudinal axis and connected to the spring support for communicating motion of the spring support to the arm assembly at an attachment point offset from the pivotal axis. The resulting balancing mechanism is relatively compact, which lends itself to robotics applications where space is limited.

Title
Robot with spring pivot balancing mechanism
Application Number
7/23691
Publication Number
4753128
Application Date
March 9, 1987
Publication Date
June 28, 1988
Inventor
William H Poynter Jr
Clinton Township, Macomb County
MI, US
David I Freed
Lake Orion
MI, US
Donald S Bartlett
Troy
MI, US
Agent
Brooks & Kushman
Assignee
GMF Robotics Corporation
MI, US
IPC
F16F 1/06
B25J 19/00
B66C 23/72
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