| Summary: | 碩士 === 國立臺灣大學 === 機械工程學研究所 === 88 === The static balancing mechanism is a mechanism, which balances the weight of objects via springs. Such as supporting frames and surgical lights, SCM is broadly applied to support and pick-and-place objects. To ensure the safety of the objects in manufacture process, the static balancing mechanism can be balanced at arbitrary rest configuration and moves objects stably without aids of actuators.
The design of SCM can be separated into two sections, the configuration synthesis and the spring-design. Since there is no systematic procedure about the configuration synthesis, the configuration is always four-bar parallelogram mechanism.
A systematic design procedure for one-dof four- and six-link static balancing mechanisms is developed in this study. Structural characteristics for the two-link static balancing mechanism are investigated, from which general structural characteristics for up-to-six link static balancing mechanisms can be generated. According to these structural characteristics, an atlas of valid configurations for up-to-six link static balancing mechanisms is obtained. It will be shown that a static balancing mechanism can be synthesized by connecting multiple one-dof static balancing mechanisms to adapt to versatile design requirements. It is believed that the proposed approach provides better physical comprehension in the design process and is beneficial to extent the application of static balancing mechanisms.
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