Mech. Math. Theor)" Vol. 33, No. 1/2. pp. 151 161.

1998
~ Pergamon PII: S0094-114X(97)00027-X
E: 1998 Elsevier Science Ltd. All rights reserved
Printed in Great Britain
0094-114x/98 $19.00 + 0.00

DESIGN OF SPRING FORCE COMPENSATION SYSTEMS

JUST L. H E R D E R
Department of Mechanical Engineering, Delft University of Technology, Mekelweg 2, 2628 CD Delft,
The Netherlands

(Received 7 August 1995; in revised.form 19 November 1996; received for publication 1997)

Abstract--Similar to the equilibration of gravity forces, also undesired spring forces can be statically
balanced by linear elastic elements. An energy method is applied to design configurations for the perfect
elimination o f the influence of ideal springs, acting on rotatable bodies, on arbitrary coupler points of
four-bar linkages and on two-link open loop kinematic chains. © 1998 Elsevier Science Ltd

INTRODUCTION

The efficiency of many mechanical systems is negatively influenced by the presence of system mass
or unwanted springs. Such a spring is parasitic in the sense that it does not contribute to the
function of the mechanism and that it was not accounted for in the design phase. It is merely a
side effect of a necessary component, such as the cosmetic covering of hand prostheses. A
substantially improved system behaviour can be obtained by implementing improvements in the
design, based on compensation techniques.

Equilibrator theory
Static balancing of gravity forces is fairly common. Hain used zero free length springs to balance
gravity forces acting on rotatable bodies [1-3], an approach that was generalised for several springs
by Haupt and Grewolls[4] and further by Streit and Gilmore[5, 6], and extended to three
dimensions by Walsh, Streit and Gilmore [7], while Hilpert [8], Nathan [9], Shin and Streit [10, 11]
and Pracht et al. [12] expanded the theory to include additional links, for both open and closed
loops, prismatic and revolute joints.
The referred to body of knowledge shows that mass of a planar or spatially moving lever, mass
concentrated in a coupler point of a four-bar linkage, and even a spatially moving mass can be
balanced exactly, by the appropriate use of ideal springs. Ideal springs have zero free length,
constant spring rate, limitless strain, and forces acting along their centerline.

Spring force compensation

In several cases, mechanisms are distorted by unwanted elasticity. Mechanisms with elastic
elements or plate springs may possess undesired stiffness. In hand prostheses, parasitic spring forces
are generated in the cosmetic covering, consuming about one-half of the operating energy [13]. Still,
few reports are found on the subject of spring force compensation [14-16].
This paper will introduce a method for eliminating the influence of parasitic spring forces on
system behaviour. This procedure will be called Spring Force Compensation. As gravity may be
modelled as a zero stiffness spring with a constant preload, equal to the weight of the system it
is acting upon, the presented theory may be seen as a generalisation of the Equilibrator Theory.
Although, in principle, all potential energy storage elements are applicable, this study is restricted
to ideal springs.

Energy method
The derivation of design criteria for balancing parasitic spring forces is based on constancy of
total system energy. During movement at a constant rate, energy is exchanged between several
151
152 J.L. Herder

linear elastic elements. In each cycle, the compensatory springs store and recover the energy needed
to overcome parasitic forces. Parasitic and compensatory springs exchange energy, while the total
energy of the system remains constant. Therefore the system is in static equilibrium in every possible
position, and said to be balanced perfectly.

S t r u c t u r e o f this paper
In the first section, a spring acting on a rotatable body is balanced. The result is used in the
design of a spring force compensation system for four-bar linkages. Then, the same procedure is
applied in the compensation of an open loop kinematic chain of two links. Finally, in order to
reduce the complexity of spring mechanisms, formulas for the composition of multiple springs are
derived. With these, the influence of system mass is considered.

SPRING-LEVER ELEMENT
On a rotatable element of a mechanism, a parasitic spring may act. This is illustrated in Fig. 1,
where the undesired elastic counteraction of the cosmetic covering of a hand prosthesis is
represented by spring k. This spring should be well distinguished from the closing spring that is
present in some types of hand prostheses. The schematic lay-out, called a spring-lever element, is
given in Fig. 2. Without loss of generality, it is assumed that the elastic energy of the spring is
minimal for ~b = 0.
As a consequence of the parasitic spring, an operating moment is required to drive the
mechanism. As only ideal springs are concerned (no free length), the parasitic elastic energy
function in this configuration yields:
V = ½k ( R 2 + a 2) - R k a cos(~b) (1)
in which R is the distance BD, k is the parasitic spring modulus, a is the distance BA and ~b is
the angle from BA to BD, measured counterclockwise. Taking the derivative with respect to q~gives
the parasitic moment:
T = R k a sin(q~). (2)
The above formulas show that varying the design parameters R, k, and a has no influence on the
amplitude of the energy function and the generated moment, as long as their product R k a remains
constant. However, the level of the energy function changes. For a specific value of the design
parameters' product R k a a minimum elastic energy is obtained when R equals a. This minimum

Fig. 1. The cosmetic covering of a hand prosthesis, represented by an ideal spring k, counteracts the
movement of the fingers.
 Design of spring force compensation systems 153

_D

/3

\
\
~o
\
\
\

\
q

\
\
A
\
Fig. 2. Schematic representation of a rotatable body with an ideal spring, called a spring-lever element.

is given by Vm~°= Rka(1 -- cos ~b). Finally, in choosing values, one should realise that large values
for R and a result in low pivot reaction forces. Furthermore, when ideal springs are concerned,
their hinging points may be translated perpendicular to the plane of motion, without influencing
the moment function in the plane of motion. However, generally total energy contents and reaction
forces will increase, and reaction moments will be introduced.

SKEW LEVER
In order to balance the system of Fig. 2, an energy source is to be appended that absorbs energy
when the original system releases energy, and vice versa. This may be realised by adding a second
spring-lever element, connected to the original lever at an arbitrary angle of fl radians [16]. The
result is called a skew lever, which is shown in Fig. 3. Perfect balance is realised if the total elastic
energy of both springs is constant for all positions of body DcBDp. The energy contents of the
parasitic spring, the compensatory spring and the total system, respectively, are:

Vp = ½kp(R~ + ap2 - 2Roa p cos(~b)) (3)

V~ = ~ k'c ( R ~ 2 + a ~ - 2 2R¢a~ cos(2zt - ~ - /~ - ~b)) (4)

V~o, = ½[kp(R ~ + a~} + kc(R~ + a~)]

-[Rpkpap cos(~b) + Rck~a~ cos(2z - ct - fl - ~b)]. (5)

The expression for the total elastic energy consists of a constant and a varying term. System
potential energy is constant if the cosine terms disappear, which occurs when Rpkpap = Rckcac and
cos(2n - ~ - fl - ~b) = - c o s ~b, or • = n - ft. Thus, the parameters Re, kc, and ac of the additional
spring-lever element may be chosen as appropriate if their product equals Rpkpap, while it may be
oriented arbitrarily, as long as ct = n - ft. The pivot reaction force of a skew lever is influenced
by the choice of ft. When a range of motion of 2re is concerned, 8' = n gives the lowest pivot load.
154 J, L. Herder

Dc

Rp

/
J
I

\ "\
I

"\
I
\,
I

/
\'\'~A,p
\
Fig. 3. Spring force compensation of a spring-lever element, resulting in a skew lever configuration.

FOUR-BAR LINKAGE

Movement of handprostheses' fingers may be realised by other mechanisms than rotatable levers.
In the case that a coupler of a four-bar linkage functions as an artificial finger, the resultant force
of the cosmetic covering acts at a coupler point, as is schematically shown in Fig. 4. Also in this
case perfect balance is desired.
Consider the four-bar linkage configuration B,D,D2B2 of Fig. 4. A parasitic spring, connected

B,

Fig. 4. Hand prosthesis of which the fingers are connected to the coupler of the four-bar linkage B, D, D,B,.
 Design of spring force compensation systems 155

B1
..... 01

Ct

\ ~/1//P

Fig. 5. A skew pantograph configuration is used to construct an imaginary skew lever C~B2C2.

to ground at A~, acts at coupler point C~. Triangle A~B2C~ forms an imaginary spring-lever element.
Therefore, spring kp can be balanced if it is possible to construct an imaginary skew lever on which
the design criteria of Fig. 3 are applicable. For this purpose a pantograph linkage is perfectly
suitable [10, 17]. In Fig. 5, the pantograph construction is illustrated. Two additional links D~D3
and D3B2 are arranged such that D1D2B:D3 is a parallelogram, and element D,D3 is expanded to
include point C2 such that AC2D3D~ is similar to AD~D2C~. The two characteristics of pantograph
linkages that are used here, are that the skew angle C~B2C2 is constant and equal to ~, and that
the ratio of the distances B_,C2 and B2C~ is constant, regardless of link orientations.
Thus, an imaginary skew lever AC~ B2C2 is realised, with a skew angle fl and arm length ratio
B 2 C 2 / B 2 C I = ,~p/p = 2. For the compensation of spring ko, a compensatory spring k~ is to be
attached between point C2 and ground at some point A2 on the imaginary line through B2, such
that angle A2B2A~ equals ~ - fl, and its modulus kc should be selected as to satisfy the requirement
that kpap = 2kcac.
Although arms B2C2 and B2C~ themselves are variable, their ratio is constant and therefore the
equilibrium of moments about B2 is not affected. However, since B2C2 and B2C~ are no longer solid
bars, the springs tend to move points C~ and C2 towards or from point B2. There is no equilibrium
of Jbrces.
In these cases, with two degrees of freedom, an extra spring is required to obtain equilibrium
of forces[8, p. 301], and therewith a constant system elastic energy function. Streit and
Shin [11, p. 608] have presented a parallel-link equilibrator configuration that accomplishes a
constant system energy potential. It will be shown that their design is also valid for non-symmetrical
parallelograms. Two of these parallel-link equilibrators are attached to the system of Fig. 5; one
for each imaginary spring-lever element, as is shown in Fig. 6. Attaching spring kp of stiffness kp
between D; and D2, and spring k~ of stiffness kc between D~ and D3, results in a constant system
elastic energy function. The exactness of the four-bar linkage compensator is proved by using the
energy method. The energy functions of parasitic and compensatory spring yield:
Vp = ~ kp(ap2 -k- p 2 ) _ pkpap cos(~b) (6)

V c ~ l kc(ac2 + 22p 2) - 2pkcac cos(re - ~b). (7)

In a parallelogram, the length of one diagonal can be expressed as a function of the sides and the
second diagonal according to:
= 2(s~ + s~) - ~ (8)
where d~ and d2 are the lengths of the diagonals and s~ and sz are the lengths of the sides of the
parallelogram.
156 J.L. Herder

With the aid of the similarities shown in Fig. 5, the energy functions of paralleMink equilibrator
springs are found to be:

Vp. -----1 kpl 2 ((D2 B2)2 q- ( D

~-~-~2)2) - p21 (9)

V~, = 1 kc[2((~.B2D02 + (D, D2)2) - (20)2]. (10)

Demanding kpap = ~.kcac and summing the four energy functions gives:
V,o, = ½kpa'-p + ½kca~ + kc[22(B2D,) 2 + (D,D2) 2]

r
+kp (B2D2) 2 + I_D_..~
)2] + ~lkpp 2+ -~lkc2 p
2 2 l l
- -~ kc2 2p 2 - E kpp2" (1 l)

As the last four addenda cancel, this energy function is neither dependent on q5 or p, and thus
constant, as expected.
Fortunately, the construction of Fig. 6 can be simplified substantially. One of several possibilities
will be given. Since the ratio of the distances D~D3 and D~D2 is constant and equals 2, a spring
of stiffness ks = (kc + kp/22), attached between D~ and Ds, can substitute k" and k~, thereby reducing
the number of compensatory springs to two. Furthermore, this additional compensatory spring
may be translated from D~ and Ds, to B2 and D~', such that D~B2 = C2D3 = D3D~', as is illustrated

B1

c2

I
I

J
/32

o;, \

I
\ Up
/
\ x

\
A2 x

\
¢

/ \
/ \,

\
Fig. 6. The four-bar linkage B~DLD2B2 is completely balanced by application of the pantograph
construction of Fig. 5 and two parallel-link equilibrators.
 Design of spring force compensationsystems 157

/31
/31

c2

C1
%

kp

A2

Fig. 7. Simplifiedspring force compensation system for the four-bar linkage.

in Fig. 7. As a result, the number of additional construction elements required to compensate for
spring kp is reduced from nine to four.

TWO-LINK OPEN LOOP LINKAGE

Hilpert [8], Nathan [9] and Streit and Shin [11] have addressed the static mass balancing of n-link
open loop revolute joint kinematic chains. Also in the case of parasitic spring forces, mechanisms
of this class can be balanced perfectly. Figure 8 shows the two-link case that is loaded by a spring
kp at point C~ of the second link. Again the pantograph construction can be applied to design a
compensation system. The design procedure is identical to the four-bar linkage case, described
above, so the configuration of Fig. 7, without link B~D~, is perfectly suitable for the compensation
of the two-link chain. However, as one is free to choose the skew angle fl and the arm length ratio
2 of the pantograph, there are more possibilities. Figure 9 gives the solution for fl = rc and 2 = 0.35
as an example.

EQUIVALENT SPRINGS
It is imaginable that a mechanism is influenced by more than one parasitic spring, or by a
combination of springs and masses. Eliminating all these influences may require a large number
of compensatory springs. In this section, the energy method is used to compose multiple springs
into one equivalent spring.
Haupt and Grewolls [4] demonstrated that several ideal springs acting on the same moving point
may be substituted by one equivalent ideal spring. Its point of attachment to ground is found to
158 J.L. Herder

CT

\
\

\
\

\
\

\
\

\Fp
\
\
\
\

\
\

\
Fig. 8. Parasitic spring, acting on a two-link open loop kinematic chain.

be the equilibrium position of the moving point, and its stiffness equals the sum of stiffnesses of
the springs in the original situation. A similar rule can be derived for the case of a rotatable body
with several ideal springs acting on it. First, a graphical solution for the substitution of two springs
will be given, and then the general formulas for the n-spring case will be derived.
Suppose that springs k~ and k2 of the configuration in Fig. 10 are to be substituted by a single

2 C7

D ~ i ~ ~,o~

k~"
kc ' v~'/"V/~,,\
" Af p
o;\
\
\
\
\

\
Fig. 9. The compensation system for the two-link chain can be designed by using the same procedure as
illustrated in Fig. 7, save that the skew angle fl and the arm length ratio 2 can be chosen as appropriate.
 Design of spring force compensationsystems 159

Fig. 10. Illustration of the substitution of two springs by a single spring without affectingthe energy
function of the rotatable body.

spring, and that Ds is selected as its point of attachment. First B, D,, Ds and D2 are aligned: D,
and A, are rotated fl~ radians clockwise (denoted by 2re - fl~ counterclockwise in Fig. 8), and D2
and A2 are rotated f12 radians (D~ with respect to the rotatable body, A~ with respect to ground).
If k~' = k~, this operation does not affect the equilibrium [1, p. 40]. Then the attachment points D[
are moved to Ds. If k~" = k ( ( R j R s ) this is a neutral operation as well. Finally, the springs kf' and
k~' are attached to the same point D~, and can be composed to spring ks, hinged between Ds and
As, such that:
AIA~ k~'
ks = kf' + k;_' A A2As k~" (12)

This procedure may be generalised for more than two springs. For the general case of a rotatable
body with n springs acting on it, the design criteria for the substitute spring-lever element will now
be derived from energy considerations. The elastic energy function Vs of the substitute spring ks
must equal the sum of the energy functions of the elements to be replaced:
½k~(a~ + R~) - Rsksas cos(q~ - ~ )

= ~ ½k,(a~ + R~) - R;k;a; cos(q~ - (~; - fl;)). (13)

i=l

This equation in which a~ is the angle XBA;, is equivalent with the set:

Rsksas = ~. R,k;a; cos(~s - (~; - fl,)) (14)

i=1

0 = ~ R;k;a; sin(~ts - ( a ; - fl;)). (15)

i=1

It is interesting to note that the latter equation has a physical meaning: the moments about B must
sum to zero for ~b = 0t~, in other words; it is the equilibrium position of the rotatable body, similar
MMT 33 I-2 F
160 J. L. Herder

y'[
?c

.J

km koi 5_ J

/ . / - -~_ j. : "\
A m *A~'~~" 0m -~./" /
'\
j'/'~-~7- /
~f./a s .~_~ / \
-\ / \
~f \
kp
J
"\.\
\
\
"\'~'Ae
/
/
/
\'~Ap
\
Fig. 11. Compensationof parasitic spring and system mass by a single compensatoryspring.

to the Haupt and Grewolls principle. Application of trigonometry and extracting the as-terms from
the latter equation gives the criterion for the orientation of the substitute element:

R, kmi sin(~i - / ~ , )
i=1
t a n 7~ = (16)

R,kial cos(~i -/~e)

i=l

The substitution of multiple springs acting on a rotatable body by a single equivalent spring can
be summarised as follows. When the point of attachment D, for the equivalent spring is chosen,
the line on which the point of attachment As must be placed follows from equation (16), equivalent
moment is reached if equation (14) is satisfied, and, if desired, equivalent energy can be realised
if equation (13) is also satisfied.

SYSTEM MASS

So far, system mass was neglected. In machinery with constant orientation with respect to
gravity, it may be useful to balance its mass in addition to the compensation of parasitic spring
forces. Suppose that a rotatable body is hampered by mass m and spring k 0, as in Fig. 11. The
mass is located at a distance Rm from the pivot, and an angle ~m from Rp. The influences of m and
kp can be eliminated simultaneously by the application of two compensatory springs. The mass is
balanced according to the Equilibrator Theory, the spring by the Spring Force Compensation
method. One of numerous solutions is given in Fig. 11. It was chosen to attach both compensatory
springs at point De with one end, and with the other end at Ac and Am, respectively, such that the
 Design of spring force compensation systems 161

following equations are satisfied:

RokpA p = ILkcac ^ mgRm = Rckmam (17)

< ApBAc = ct = n - 13 ^ < YBAm = fl -- j~m. (18)

The most lucid solution for replacing springs kc and km by a single spring ks is obtained by choosing
ks = kc + kin, and positioning As between Am and A2, such that AsAm/AsA2 = k~/km. If appropriate,
the values of R~, ks and as may be varied as long as their product remains constant.

CONCLUSIONS

Similar to static balancing of gravity forces, the influence of parasitic springs can be eliminated.
In this paper, it is shown that the Equilibrator Theory, valid for forces of constant magnitude and
vertical direction, such as gravity forces, can be extended to forces that are proportional with the
distance to their origin, such as ideal spring forces. The latter procedure, called Spring Force
Compensation, is illustrated by using hand prostheses as examples. A potential energy approach
was applied to design linkage configurations for the compensation of the elastic forces introduced
by the cosmetic covering.
It was shown that ideal springs, acting on rotatable bodies, two-link open loop kinematic chains,
or coupler points of four-bar linkages, can be compensated exactly for their entire range of motion.
The compensation of an ideal spring (or the equivalent of several ideal springs) acting on a rotatable
body demands one compensatory spring, while the compensation of an ideal spring acting on a
coupler point of a four-bar linkage demands two compensatory springs and two additional links.
The Equilibrator Theory and the Spring Force Compensation methodology allow superposition:
multiple springs, acting on a rotatable body can be composed to a single equivalent spring, and
the compensation for linear spring forces can be combined with static mass balancing.

Acknowledgements--The author gratefully acknowledges Professors Jan Cool, Dick Plettenburg, Wouter Sjoerdsma and
Hans Poulis for their valuable contributions and critical review of this paper.

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pp. 268-275.
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14. Hirose, S., Biologically lnspired Robots. Oxford University Press, 1993.
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