Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems J. Mechanisms Robotics. 2013;5(4):041013-041013-10. doi:10.1115/1.4025218 Figure Legend: A basic gravity compensation mechanism for a rotational joint. The mass of the arm is simplified to a point mass.

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems J. Mechanisms Robotics. 2013;5(4):041013-041013-10. doi:10.1115/1.4025218 Figure Legend: Full gravity compensated four-bar system, showing joints and labels. Points marked with “X” correspond to P0, P1, P2, etc.

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems J. Mechanisms Robotics. 2013;5(4):041013-041013-10. doi:10.1115/1.4025218 Figure Legend: Typical configuration of larger extended system, with simplified joint representation

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems J. Mechanisms Robotics. 2013;5(4):041013-041013-10. doi:10.1115/1.4025218 Figure Legend: Traditional arm, with same (functional) joint sequence as in four-bar system.

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems J. Mechanisms Robotics. 2013;5(4):041013-041013-10. doi:10.1115/1.4025218 Figure Legend: 3D model of six-link parallel manipulator Inset: Universal joint oriented as necessary

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems J. Mechanisms Robotics. 2013;5(4):041013-041013-10. doi:10.1115/1.4025218 Figure Legend: Comparison of systems, simple and decomposed four-bar mechanisms and single-bar

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems J. Mechanisms Robotics. 2013;5(4):041013-041013-10. doi:10.1115/1.4025218 Figure Legend: Comparison of Kinematic Profiles

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems J. Mechanisms Robotics. 2013;5(4):041013-041013-10. doi:10.1115/1.4025218 Figure Legend: Demonstration of Inertia Calculation Principles Arcs represent curvature of path taken by the point touching the frame. All points on arms not attached to the base rotate about some point L away.

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems J. Mechanisms Robotics. 2013;5(4):041013-041013-10. doi:10.1115/1.4025218 Figure Legend: System Hanging Passively

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems J. Mechanisms Robotics. 2013;5(4):041013-041013-10. doi:10.1115/1.4025218 Figure Legend: Comparison of error for spring-pulley systems

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems J. Mechanisms Robotics. 2013;5(4):041013-041013-10. doi:10.1115/1.4025218 Figure Legend: Systems compared in Table 3 are a gravity compensated arm (top), uncompensated CKBot modules with extended links (middle), and a CKBot chain without extended links (bottom). Each circle represents a joint or CkBot.

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems J. Mechanisms Robotics. 2013;5(4):041013-041013-10. doi:10.1115/1.4025218 Figure Legend: Second Prototype extended, hanging passively