The present invention improves energy efficiency of a robotic actuator by integrating a rotary actuator with a variable gravity compensation mechanism. The gravity compensation mechanism works by canceling the gravitational potential energy of the payload with the potential energy of a pair of compression springs. The invention integrates 3 main modules which are assembled in their listed order radially,
1. A 2:1 planetary reduction gear box, to reduce the speed of the rotary actuator.
2. A variability mechanism to vary the stored energy of the compression springs
3. A compact variable compensation mechanism, using slider guided compression springs, to compensate the variable payload’s gravity torque.
The variable gravity compensation module adapts to changing payloads by adjusting the pivot pin’s radial position. From the experimental result, the mechanism can reduce the actuator energy consumption by 90.82%, and concentrate the motor efforts on inertial based torques during motion.
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