Active Static Balancing of Mechatronic Systems - An Overview

Abstract

Static balancing of a mechanical system can be regarded as the total or partial cancellation of the mechanical effects (force or moment) of static loads to the actuating system of it, in all configurations, respectively in a finite number of configurations, from functioning domain, under quasi-static conditions. Active balancing is taking into consideration the variation of static loads during the functioning of mechanical systems. As a consequence the active balancing requires an adaptive controlling system and a dynamic model of mechatronic system. In this article, some aspects of the active static balancing problem of mechanical systems are surveyed.

Adaptive Balancing of Robots and Mechatronic Systems

“…Static balancing can be regarded as the total or partial cancellation of the mechanical effects (force or moment) of static loads to the actuating system of mechanical system, in all configurations, respectively in a finite number of configurations, from functioning domain, under quasi-static conditions [1,2]. The effect of this action is the maintaining of the mechanical system in a rest state at any configuration or at a finite number of configurations respectively, from working space and its actuators are not required to overcome the static loads.…”

“…In this case the adaptive solution could be a passive one (i.e., not actuated). Otherwise the balancing system should adapt in real time by using a local and supplementary actuation system and by aid of a controlling system and the required sensors and transducers [2]. Many other mechanical systems, which are automatized more and more in these days, becoming in this way mechatronic systems, have to overcome variable payloads or resistant forces during the functioning.…”

“…As for the adaptation to the variation of the payload in case of robots and automatized mechanical systems many ideas are proposed in scientific papers or patents passed years [2,[21][22][23][24] but no realization in practice for these domains. If there are some adjustments in order to adapt to the variation of payload they are made off-line [6,9,21] while mechatronic system is in a rest state.…”

Adaptive Balancing by Counterweights of Robots and Mechatronic Systems

“…Some of the mechanical systems [1] accept this method because of operating at low or moderate dynamics, from security reasons or in cases where the right spring is difficult and costly to be obtained [2], or the spring balancing solution is too complicated to be fitted to [4]. Anyway, an internal mass redistribution so that parts of mechanical systems (actuators, electric motors, other transmission mechanisms) to act as counterweights like in the case of industrial robots [4], [5], is first step when the static balancing problem starts [3].…”

“…not actuated). Otherwise the balancing system should adapt in real time by using a local and supplementary actuation system and by aid of a controlling system and the required sensors and transducers [3].…”