Prototype design of a multi-degree-of-freedom spherical permanent magnet gravity compensator

An innovative spherical actuator with integrated magnetic spherical gravity compensator is developed. Because of the patented magnetic spherical gravity compensator a higher torque density and a low energy consumption is achieved. Especially in mobile robotics applications such as, arm support systems, this is necessary to satisfy all requirements. To prove the working principle of this compensator a scaled prototype design is created. For this design the manufacturing limits are discussed and the resulting torque performance is obtained