Static and Dynamic Balancing of Robots

Abstract

One key contribution of this chapter is to provide definitions for the fields of static and dynamic balancing that are compatible between these fields. The most important ones are listed below in alphabetical order.

Mechanism Balancing Taxonomy

“…Four different balancing typesstatic balancing, shaking force balancing, shaking moment balancing, and dynamic balancingare presented in the literature known to the authors, and various classifications have been proposed [13][14][15][16][17][18][19][20] covering the most well-known balancing types. The taxonomy introduced in the present article allows for a more refined sorting of balanced mechanisms into 15 rigorously defined types with unequivocal mechanical properties, including 11 balancing types that have not been mentioned in the known balancing classifications.…”

“…Other inconsistencies exist between [19] and [24, p. 3] versus [4] and [25,Ch. 2]: the former state that dynamically balanced mechanisms are dynamically decoupled from the motions of their base, thus behaving as a single rigid body, while the latter introduce a supplementary required conditiona constant inertia tensorfor achieving complete decoupling.…”