1. 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): doi: /
Figure Legend:
A basic gravity compensation mechanism for a rotational joint. The mass of the arm is simplified to a point mass.

2. 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): doi: /
Figure Legend:
Full gravity compensated four-bar system, showing joints and labels. Points marked with “X” correspond to P0, P1, P2, etc.

3. 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): doi: /
Figure Legend:
Typical configuration of larger extended system, with simplified joint representation

4. 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): doi: /
Figure Legend:
Traditional arm, with same (functional) joint sequence as in four-bar system.

5. 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): doi: /
Figure Legend:
3D model of six-link parallel manipulator Inset: Universal joint oriented as necessary

6. 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): doi: /
Figure Legend:
Comparison of systems, simple and decomposed four-bar mechanisms and single-bar

7. 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): doi: /
Figure Legend:
Comparison of Kinematic Profiles

8. 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): doi: /
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.

9. 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): doi: /
Figure Legend:
System Hanging Passively

10. 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): doi: /
Figure Legend:
Comparison of error for spring-pulley systems

11. 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): doi: /
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.

12. 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): doi: /
Figure Legend:
Second Prototype extended, hanging passively