This paper discusses mechanisms that allow for perfect static balancing of rotations about a fixed spherical joint by means of ideal springs. Using a potential energy consideration, balancing conditions of a spatial three-spring balancer will be derived. It will be shown that not satisfying these conditions causes non-constant terms in the potential energy expression of the spring-mechanism, which can be eliminated by coupling the spring-mechanism to an inverted pendulum.
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Spatial Static Gravity Balancing With Ideal Springs
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te Riele, FLS, Herder, JL, & Hekman, EEG. "Spatial Static Gravity Balancing With Ideal Springs." Proceedings of the ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B. Salt Lake City, Utah, USA. September 28–October 2, 2004. pp. 425-432. ASME. https://doi.org/10.1115/DETC2004-57166
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