[Jon Stratis]

4-bar mechanisms can benefit greatly from the use of supporting springs. One of the designs our team originally considered was a 4-bar mechanism, and to help demonstrate it to the team, I brought in an old desk lamp that utilized that mechanism. The lamp in question had several springs stretched in place, and one of the more interesting parts of investigating how it worked was moving it with and without the springs in place. With the springs, it was easy to lift up, and it held its position perfectly. Without the springs, it was a lot harder to lift, and would drop back down immediately.

I would highly recommend looking into how springs could be used to help provide the added torque needed to neutralize the weight of the arm, allowing your motor to work a lot easier.