Inherently balanced 4R four-bar based linkages

V. van der Wijk, Justus Laurens Herder

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

8 Citations (Scopus)

Abstract

Synthesis of mechanisms with their center of mass (CoM) at an invariant point on one of the elements is useful for the design of statically balanced and shaking-force balanced mechanisms and manipulators. For this purpose, a kinematic architecture based on a general 4R four-bar linkage is found by applying the method of principal vectors as a linkage together with a similar four-bar linkage. The balance conditions are obtained for an arbitrary mass distribution of each of the elements and a balanced grasper mechanism and a balanced two-degree-of-freedom manipulator are derived as practical examples
Original languageUndefined
Title of host publicationProceedings of the IFToMM 13th International Symposium on Avances in Robot Kinematics
EditorsJ. Lenarcis, M. Husty
Place of PublicationInnsbruck, Austria
PublisherSpringer
Pages309-316
ISBN (Print)978-94-007-4619-0
DOIs
Publication statusPublished - 24 Jun 2012
Event13th International Symposium on Advances in Robot Kinematics, ARK 2012 - Innsbruck, Austria
Duration: 24 Jun 201228 Jun 2012
Conference number: 13
http://geometrie.uibk.ac.at/ark2012/

Publication series

Name
PublisherSpringer

Conference

Conference13th International Symposium on Advances in Robot Kinematics, ARK 2012
Abbreviated titleARK
CountryAustria
CityInnsbruck
Period24/06/1228/06/12
Internet address

Keywords

  • METIS-288468
  • IR-81847

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