Design of Reactionless Mechanisms with Counter-Rotary Counter-Masses

Acevedo, Mario

doi:10.1007/978-3-319-17683-3_5

Cited by 3 publications

(1 citation statement)

References 12 publications

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“…In this work, this approach is resumed and presented using fully Cartesian coordinates, also known as natural coordinates [25]. The application of natural coordinates to the dynamic balancing of mechanisms in the plane has been explained in Reference [26]. An application to obtain the balancing conditions of planar mechanisms is described in Reference [27].…”

Section: Introductionmentioning

confidence: 99%

An Alternative Method for Shaking Force Balancing of the 3RRR PPM through Acceleration Control of the Center of Mass

et al. 2020

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The problem of shaking force balancing of robotic manipulators, which allows the elimination or substantial reduction of the variable force transmitted to the fixed frame, has been traditionally solved by optimal mass redistribution of the moving links. The resulting configurations have been achieved by adding counterweights, by adding auxiliary structures or, by modifying the form of the links from the early design phase. This leads to an increase in the mass of the elements of the mechanism, which in turn leads to an increment of the torque transmitted to the base (the shaking moment) and of the driving torque. Thus, a balancing method that avoids the increment in mass is very desirable. In this article, the reduction of the shaking force of robotic manipulators is proposed by the optimal trajectory planning of the common center of mass of the system, which is carried out by "bang-bang" profile. This allows a considerable reduction in shaking forces without requiring counterweights, additional structures, or changes in form. The method, already presented in the literature, is resumed in this case using a direct and easy to automate modeling technique based on fully Cartesian coordinates. This permits to express the common center of mass, the shaking force, and the shaking moment of the manipulator as simple analytic expressions. The suggested modeling procedure and balancing technique are illustrated through the balancing of the 3RRR planar parallel manipulator (PPM). Results from computer simulations are reported.

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Section: Introductionmentioning

confidence: 99%

An Alternative Method for Shaking Force Balancing of the 3RRR PPM through Acceleration Control of the Center of Mass

et al. 2020

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Dynamic Balancing Conditions of Planar Parallel Manipulators

Acevedo

Reyes

2015

Recent Advances in Mechanism Design for Robotics

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An Efficient Method to Find the Dynamic Balancing Conditions of Mechanisms: Planar Systems

Acevedo

2015

Volume 5B: 39th Mechanisms and Robotics Conference

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In this work a novel and general method to find the dynamic balancing conditions, based on the use of Natural Coordinates, is introduced. The method is efficient and very easy to automate, and can be used to obtain the shaking force and the shaking moment balancing conditions for the linkages in the plane and can be extended for linkages in space, although at this time is presented only for planar systems. These conditions can be interpreted and used for the design of dynamic balanced linkages. The application of the method is demonstrated here by finding the force and moment balancing conditions of a general four-bar mechanism that, although simple, can serve as a didactic example to evaluate the method. The resulting conditions are used to the effective design of reactionless linkages with counterweights and counter-inertias.

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Design of Reactionless Mechanisms with Counter-Rotary Counter-Masses

Cited by 3 publications

References 12 publications

An Alternative Method for Shaking Force Balancing of the 3RRR PPM through Acceleration Control of the Center of Mass

An Alternative Method for Shaking Force Balancing of the 3RRR PPM through Acceleration Control of the Center of Mass

Dynamic Balancing Conditions of Planar Parallel Manipulators

An Efficient Method to Find the Dynamic Balancing Conditions of Mechanisms: Planar Systems

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