Abstract
This paper proposes a generic method for deriving
the general shaking force balance conditions of parallel
manipulators. Instead of considering the balancing of a parallel
manipulator link-by-link or leg-by-leg, the architecture is
considered altogether.
The first step is to write the linear momentum of each element.
The second step is to substitute the derivatives of the
loop equations, by which the general force balance conditions
are obtained. Subsequently specific kinematic conditions are
investigated in order to find advantageous, simple balance solutions.
As an example, the method is applied to a planar 4-RRR parallel
manipulator, for which the force balance conditions and
solutions are discussed and illustrated for each step respectively.
By including the loop equations, linear relations of the
motion among mechanism elements lead to an increase of balance
possibilities.For specific kinematic conditions, additional
linear relations among the motion of mechanism elements may
be obtained, resulting in another increase of balance possibilities.
For the latter, symmetric motion is an important feature
for which a 4-RRR manipulator is advantageous
Original language | English |
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Title of host publication | Proceedings of the 13th World Congress in Mechanism and Machine Science (IFToMM2011) |
Place of Publication | Guanajuato, Mexico |
Publisher | UCEA |
Pages | - |
Number of pages | 9 |
Publication status | Published - 19 Jun 2011 |
Event | 13th IFToMM World Congress in Mechanism and Machine Science 2011 - Guanajuato, Mexico Duration: 19 Jun 2011 → 25 Jun 2011 Conference number: 13 |
Publication series
Name | |
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Publisher | IFToMM |
Volume | A12, 523 |
Conference
Conference | 13th IFToMM World Congress in Mechanism and Machine Science 2011 |
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Country | Mexico |
City | Guanajuato |
Period | 19/06/11 → 25/06/11 |
Keywords
- METIS-277163
- IR-90603