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

Publication series

NameMechanisms and Machine Science
PublisherSpringer International Publishing
Volume24
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
van der Wijk, V. / Closed-chain principal vector linkages. New Trends in Mechanism and Machine Science. editor / Paulo Flores ; Fernando Viadero. Guimarães, Portugal : Springer, 2015. pp. 829-837 (Mechanisms and Machine Science).
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van der Wijk, V 2015, Closed-chain principal vector linkages. in P Flores & F Viadero (eds), New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol. 24, Springer, Guimarães, Portugal, pp. 829-837. https://doi.org/10.1007/978-3-319-09411-3_87

Closed-chain principal vector linkages. / van der Wijk, V.

New Trends in Mechanism and Machine Science. ed. / Paulo Flores; Fernando Viadero. Guimarães, Portugal : Springer, 2015. p. 829-837 (Mechanisms and Machine Science; Vol. 24).

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

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AB - 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.

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KW - Principal vector linkage

KW - Equivalent masses

KW - METIS-304375

KW - Closed chain

KW - IR-92059

KW - EWI-25319

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A2 - Flores, Paulo

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van der Wijk V. Closed-chain principal vector linkages. In Flores P, Viadero F, editors, New Trends in Mechanism and Machine Science. Guimarães, Portugal: Springer. 2015. p. 829-837. (Mechanisms and Machine Science). https://doi.org/10.1007/978-3-319-09411-3_87