Dynamic Balancing Conditions of Planar Parallel Manipulators

Acevedo, Mario; Reyes, José María

doi:10.1007/978-3-319-18126-4_6

Dynamic Balancing Conditions of Planar Parallel Manipulators

Journal

Recent Advances in Mechanism Design for Robotics

Mechanisms and Machine Science

ISSN

2211-0984

2211-0992

Date Issued

2015

Author(s)

Acevedo, Mario

Facultad de Ingeniería - CampGDL

Reyes, José María

Facultad de Ingeniería - CampCM

Type

text::book::book part

DOI

10.1007/978-3-319-18126-4_6

URL

https://scripta.up.edu.mx/handle/20.500.12552/4472

Abstract

Force and moment balancing (dynamic balancing) of rigid body linkages with constant mass links is a traditional but still very active area of research in machine dynamics and robotics. The shaking force and the shaking moment caused by all moving links can be reduced in different ways but all having a common difficulty named to derive the so-called balancing conditions, that in general can be cumbersome. In this article a novel method to find the dynamic balancing conditions based on the use of Natural Coordinates is introduced. The method is direct, efficient, and easy to automate through the application of a computer algebra system. It can be used to obtain the shaking force and the shaking moment balancing conditions for planar and spatial mechanisms.