Decoupling of dynamic equations by means of adaptive balancing of 2-dof open-loop mechanisms

Coelho, Tarcisio Antonio Hess; Yong, Liang; Alves, Valter Francisco Arruda

doi:10.1016/j.mechmachtheory.2004.02.011

Cited by 42 publications

(32 citation statements)

References 3 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…They can be mentioned by three principal trends: (a) the decoupling of dynamic equations via actuator relocation, i.e. by the kinematic decoupling of motion when the rotation of any link is due to only one actuator [2][3][4][5][6][7][8][9][10] or via decoupling of kinematic chains [11][12][13][14][15]; (b) the decoupling of dynamic equations via optimum inertia redistribution [16][17][18][19][20][21][22][23][24][25][26]; (c) the decoupling of dynamic equations via added links [27][28][29][30]. The modification of the manipulator structure to achieve high-quality dynamic performance is a new promising tendency in the robot design and it is to pursue the development of new robot mechanisms which can be modeled accurately with little difficulty.…”

Section: Introductionmentioning

confidence: 99%

On the Design of the Exoskeleton Arm with Decoupled Dynamics

Arakelian¹,

Aoustin²,

Chevallereau³

2016

New Trends in Medical and Service Robots

View full text Add to dashboard Cite

This paper focuses on the design of a 2-DOF exoskeleton arm with decoupled dynamics. The goal is to simplify the controller design by reducing the effects of complicated manipulator dynamics. The added epicyclic gear train allows the optimal redistribution of kinetic energy, which leads to the linearization and decoupling of the dynamic equations. The determination of the parameters of the added links is based on eliminating coefficients of nonlinear terms in the manipulator's kinetic and potential energy equations. The suggested design methodology is illustrated by simulations carried out using the software ADAMS.

show abstract

Section: Introductionmentioning

confidence: 99%

On the Design of the Exoskeleton Arm with Decoupled Dynamics

Arakelian¹,

Aoustin²,

Chevallereau³

2016

New Trends in Medical and Service Robots

View full text Add to dashboard Cite

show abstract

“…Furthermore, shaking forces and moments also cause fatigue, vibrations, noise disturbances, etc., thus undermining the control precision [1]. Therefore, many balancing mechanisms with low additions of mass, inertia and complexity have been proposed to counterbalance the shaking forces and moments [2][3][4][5][6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

Dynamics Analysis of a Three-DOF Planar Serial-Parallel Mechanism for Active Dynamic Balancing with Respect to a Given Trajectory

Wang

Luo

Mei

et al. 2013

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

The concept of dynamic balancing with respect to a given trajectory is proposed in this paper. Trajectorybased dynamic balancing is a technique that brings additional mechanisms to unbalanced mechanisms with the purpose of actuating the original mechanism to move along a predefined trajectory, regardless of the shaking forces and moments. In this work, a planar three degrees of freedom (3-DOF) serial-parallel mechanism is proposed to implement this technique on an unbalanced platform. The overall structure of the system is firstly introduced and the mechanical design and kinematics of the proposed mechanism is then presented. The dynamic model of the mechanism and the platform is derived and analysed. Finally, numerical examples are presented to verify the effectiveness of the active dynamic balancing mechanism and the improved dynamic performance of the system.

show abstract

“…Such an approach is efficient for spatial serial manipulators in which the axis of joints are not parallel. (c) The linearization of dynamic equations via added links [21,22]. The modification of the manipulator structure to achieve high-quality dynamic performance is a new promising tendency in the robot design and it is to pursue the development of new robot mechanisms which can be modeled accurately with little difficulty.…”

Section: Introductionmentioning

confidence: 99%

“…The modification of the manipulator structure to achieve high-quality dynamic performance is a new promising tendency in the robot design and it is to pursue the development of new robot mechanisms which can be modeled accurately with little difficulty. However, the design methodology proposed in [21] leads to the unavoidable increase of the total mass of the manipulator due to the disposition of the added elements in the end of each link.…”

Section: Introductionmentioning

confidence: 99%