Closed-chain principal vector linkages

V. van der Wijk

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

5 Citations (Scopus)

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 languageUndefined
Title of host publicationNew Trends in Mechanism and Machine Science
EditorsPaulo Flores, Fernando Viadero
Place of PublicationGuimarães, Portugal
PublisherSpringer
Pages829-837
Number of pages9
ISBN (Print)978-3-319-09410-6
DOIs
Publication statusPublished - 2015
EventEucomes2014, 5th European Conference on Mechanism Science, Guimarães, Portugal, 16-19 September 2014 - Guimarães, Portugal
Duration: 16 Sep 201420 Sep 2014

Publication series

NameMechanisms and Machine Science
PublisherSpringer International Publishing
Volume24
ISSN (Print)2211-0984

Conference

ConferenceEucomes2014, 5th European Conference on Mechanism Science, Guimarães, Portugal, 16-19 September 2014
Period16/09/1420/09/14
Other16-09-2014 - 20-09-2014

Keywords

  • Dynamic balance
  • Principal vector linkage
  • Equivalent masses
  • METIS-304375
  • Closed chain
  • IR-92059
  • EWI-25319

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