Static Balancing of Translational Parallel Mechanisms

Static balancing is a technique to create static equilibrium throughout a certain range of motion. Static balancing for spatially moving parallel manipulators tends to result in considerable added complexity which hampers application. This paper presents a simple static balancing technique for the subclass of translational parallel manipulators such as the Delta robot. Mathematically perfect static balance is achieved without addition of links. Only springs need to be added. The concept and the balancing conditions will be presented. A prototype is being manufactured at the time of writing which demonstrates the feasibility of the concept.