TY - JOUR A1 - Juang, C.-W. A1 - Jhuang, C.-S. A1 - Chen, D.-Z. T1 - Spring efficiency assessment and efficient use of spring methods of statically balanced planar serial manipulators with revolute joints only JO - Mech. Sci. J1 - MS VL - 13 IS - 2 SP - 817 EP - 830 Y1 - 2022/10/07 PB - Copernicus Publications SN - 2191-916X UR - https://ms.copernicus.org/articles/13/817/2022/ L1 - https://ms.copernicus.org/articles/13/817/2022/ms-13-817-2022.pdf DO - 10.5194/ms-13-817-2022 ER -