An optimization method for the static balancing of manipulators using springs

Jieyu Wang, Xianwen Kong*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


This paper discusses a novel optimization method to design statically balanced manipulators. Only springs are used to balance the manipulators composed of revolute (R) joints. Since the total potential energy of the system is constant when statically balanced, the sum of squared differences between the two potential energy when giving different random values of joint variables is set as the objective function. Then the optimization tool of MATLAB is used to obtain the spring attachment points. The results show that for a 1-link manipulator mounted on an R joint, in addition to attaching the spring right above the R joint, the attachment point can have offset. It also indicates that an arbitrary spatial manipulator with n link, whose weight cannot be neglected, can be balanced using n springs. Using this method, the static balancing can be readily achieved, with multiple solutions.

Original languageEnglish
Title of host publication44th Mechanisms and Robotics Conference (MR)
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791883990
Publication statusPublished - 3 Nov 2020
Event44th Mechanisms and Robotics Conference 2020 - St. Louis, United States
Duration: 16 Aug 202019 Sept 2020

Publication series

NameASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference


Conference44th Mechanisms and Robotics Conference 2020
Country/TerritoryUnited States
CitySt. Louis


  • Optimization method
  • Spatial manipulators
  • Springs
  • Static balancing

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation


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