The static balancing of mechanical systems is an important issue because it allows significant reduction of torques. However the literature review shows that in many cases the gravity balancing of mechanical systems is carried out by neglecting the masses of auxiliary links associated to the principal mechanism. For many balancing schemes it is the source of errors.
This paper deals with an improved solution for gravity compensators based on the inverted slider crank mechanism considering the masses of the rocker and the spring. For this purpose, the torques due to auxiliary links are determined. Then, they are introduced into the balancing equation for minimization of the residual unbalance. In this way, a more accurate balancing of gravity compensators is achieved. The efficiency of the suggested approach is illustrated by numerical simulations.