This paper presents robotic manipulators that employ the bevel gravity compensator. The bevel gravity compensator can counterbalance a 2-dof rotation comprised of two 1-dof gravity compensators and a bevel differential. Each 1-dof gravity compensator is equipped at the rotating bevel gear, respectively. Analyses of the energy and torque for a 1-link and 2-dof manipulator indicate that the proposed gravity compensator performs static balancing completely. Multi-link and spatial manipulator applications are discussed in this paper. In these applications, mechanical constraints are adopted to achieve complete gravity compensation, since the pose of the distal link with respect to the inertial frame varies with alterations of the pose of the proximal link. Energy analyses reveal that the proposed manipulators employing bevel gravity compensators can completely achieve static balancing. The simulation results show that the gravitational torques can be effectively counterbalanced in regards to the proposed manipulators.
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