Force balancing of the 2RRR planar parallel manipulator via center of mass acceleration control using fully cartesian coordinates
Acevedo Alvarado, Mario
Orvañanos Guerrero, María Teresa
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Shaking force balancing of mechanisms usually is achieved by an optimal redistribution of the moving masses, which allows the cancellation or the reduction of the variable dynamic loads on the manipulator’s frame. This procedure usually leads to an increase in the mass of the original links, motivating the increment on the driving torques and on the shaking moment. In this article the concept of center of mass acceleration control, presented previously elsewhere, is resumed this time with the use of fully Cartesian coordinates. The trajectory of the general center of mass of the system, calculated out from the motion of the moving links, is defined as straight line and characterized with a “bang-bang” profile. In this way it is possible to reduce the maximum acceleration of the center of mass thus, reducing the shaking force. The suggested balancing technique is illustrated through computer simulations. © 2020, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.
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