Analysis of the Kinematic Characteristics of the Gravity Balance Following Mechanism

The gravity balance following mechanism is used for the gravity balance of the large-scale ground test of the mechanism. In order to study the kinematic characteristics of the gravity balance following mechanism, the kinematic model of gravity balance following mechanism is firstly established based on D-H method, and the mechanism simulation model and the kinematic theoretical model are established by using SimMechanics and M functions of MATLAB, which verifies the correctness of the two models; secondly, according to the kinematic theoretical model and mechanism simulation model, the workspace and joint space motion characteristics of the gravity balance following mechanism are investigated, which provides data support for the subsequent design.