Static Balancing of a 5-DoF Mechanism with Manual Reconfiguration Feature

Terence Essomba, Zi Wei Zhao

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review


This work presents the static balancing of a mechanism with 5 degrees of freedom. This specific feature allows it to manipulate a surgical tool and hold it in a certain position with no locking system required. The proposed mechanism is made of a linear parallelogram mechanism and an angular spherical decoupled architecture. Its kinematics is studied to permit the analysis of its gravitational potential energy. Several specific mechanical concepts based on tension springs are designed and implemented to generate an elastic potential energy that compensates the gravitational potential energy. This method allows the conservation of the mechanism total potential energy, which is required for the static balancing. A prototype of the statically balanced mechanism is manufactured. Its static balancing is successfully testing.

Original languageEnglish
Title of host publicationMechanisms and Machine Science
Number of pages9
StatePublished - 2020

Publication series

NameMechanisms and Machine Science
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992


  • Kinematics
  • Parallelogram linkage
  • Spherical decoupled mechanism
  • Statically balanced mechanism


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