The Hummingbird minipositioner-providing three-axis motion at 50 g's with low reactions

High-speed electrical testing of multichip ceramic modules

“…For practical purposes, then, the Hummingbird is dynamically balanced and generates no reaction moments about the x or y axes during x-y motion. Many other fine details may be found in [11].…”

Mechatronic Design of Flexible Manipulators

“…In contrast, a micro-arm [6] needs a counterbalaaice to suppress vibration due to fast motion. The link flexibility of manipulators must be taken into account in modeling and control.…”

Screw theory based dynamic balance methods

“…High-speed robots have a problem: they induce large fluctuating reaction forces and moments on their base and surroundings, exciting vibrations and noise, and disrupting of neighbouring robot cells or precision equipment [67,55,73,108]. These shaking forces and shaking moments are caused by rapid acceleration and deceleration of the load, links, motors and other components of the robot.…”

“…A dynamically decoupled mechanism therefore moves with the base as if it were a rigid body, allowing for a precise positioning with respect to the moving base. For example, when a dynamically decoupled short stroke robot is placed on a high-speed long stroke robot, the accelerations of the long stroke will induce no disrupting forces and moments on the short stroke and vice versa, allowing for a fine endeffector positioning [55]. This is in contrast to vibration isolation techniques, such as active hard mount vibration isolation [94,95], that maintain precision with respect to the inertial frame of reference.…”