Abstract
For high-speed robotics dynamic balance is an important property for low base vibrations and short cycle times. To consider dynamic balance in the beginning of the design process of a manipulator, mechanism solutions can be
synthesized from principal vector linkages, which are fundamental kinematic architectures with inherent force balance. In this paper it is shown how a closedchain
principal vector linkage can be analyzed as an open-chain principal vector linkage by modeling one element in a closed chain with two real and two virtual equivalent masses. The results are validated with a dynamic simulation.
| Original language | Undefined |
|---|---|
| Title of host publication | New Trends in Mechanism and Machine Science |
| Editors | Paulo Flores, Fernando Viadero |
| Place of Publication | Guimarães, Portugal |
| Publisher | Springer |
| Pages | 829-837 |
| Number of pages | 9 |
| ISBN (Print) | 978-3-319-09410-6 |
| DOIs | |
| Publication status | Published - 2015 |
Publication series
| Name | Mechanisms and Machine Science |
|---|---|
| Publisher | Springer International Publishing |
| Volume | 24 |
| ISSN (Print) | 2211-0984 |
Keywords
- Dynamic balance
- Principal vector linkage
- Equivalent masses
- METIS-304375
- Closed chain
- IR-92059
- EWI-25319
Cite this
van der Wijk, V. (2015). Closed-chain principal vector linkages. In P. Flores, & F. Viadero (Eds.), New Trends in Mechanism and Machine Science (pp. 829-837). (Mechanisms and Machine Science; Vol. 24). Guimarães, Portugal: Springer. https://doi.org/10.1007/978-3-319-09411-3_87