A new parallelogram linkage configuration for gravity compensation using torsional springs

Ajay Gopalswamy, Pramod Gupta, M. Vidyasagar. A new parallelogram linkage configuration for gravity compensation using torsional springs. In Proceedings of the 1992 IEEE International Conference on Robotics and Automation, Nice, France, May 12-14, 1992. pages 664-669, IEEE, 1992. [doi]