This video demonstrates a 6-DOF statically balanced parallel robot. References:
1. C. Gosselin, J. Wang, T. Laliberté, I. Ebert-Uphoff: On the design of a statically balanced 6-DOF parallel manipulator, Proc. IFToMM Tenth World Congress Theory of Machines and Mechanisms, Oulu (1999) pp. 1045-1050; 2.
C. Gosselin, J. Wang: On the design of statically balanced motion bases for flight simulators, Proc. AIAA Modeling and Simulation Technologies Conf., Boston (1998), pp. 272-282;
3. I. Ebert-Uphoff, C. Gosselin: Dynamic modeling of a class of spatial statically-balanced parallel platform mechanisms, Proc. IEEE Int. Conf. Robot. Autom. (ICRA), Detroit (1999), Vol. 2, pp. 881-888
Clément Gosselin
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Courtesy of Clément Gosselin, Université Laval, Canada