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dc.contributor.authorAcevedo Alvarado, Mario
dc.contributor.authorOrvañanos Guerrero, María Teresa
dc.contributor.otherCampus Guadalajaraes
dc.identifier.citationAcevedo Alvarado, M. y Orvañanos Guerrero, M. T. (2020). Force balancing of the 2RRR planar parallel manipulator via center of mass acceleration control using fully cartesian coordinates. En: Hernández, E., Keshtkar, S. y Valdez, S. I. (editores). Industrial and robotic systems : LASIRS 2019, (Mechanisms and machine science, vol. 86.), (pp. 25-35). Cham : Springer. DOI: 10.1007/978-3-030-45402-9_4en
dc.description.abstractShaking 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.en
dc.relation.ispartofREPOSITORIO SCRIPTAes
dc.relation.ispartofseriesMechanisms and Machine Scienceen
dc.rightsAcceso Cerradoes
dc.sourceIndustrial and robotic systems : LASIRS 2019en
dc.subjectCenter of mass controlen
dc.subjectDynamic balancingen
dc.subjectFully cartesian coordinatesen
dc.subjectParallel manipulatoren
dc.subjectShaking forceen
dc.subjectDynamic loadsen
dc.subjectMotion controlen
dc.subjectBalancing techniquesen
dc.subjectCartesian coordinateen
dc.subjectDriving torquesen
dc.subjectForce balancingen
dc.subjectGeneral centeren
dc.subjectMaximum accelerationen
dc.subjectPlanar parallel manipulatorsen
dc.subjectVariable dynamicsen
dc.subjectAcceleration controlen
dc.subject.classificationINGENIERÍA Y TECNOLOGÍAes
dc.titleForce balancing of the 2RRR planar parallel manipulator via center of mass acceleration control using fully cartesian coordinatesen
dc.typeCapítulo de libroes
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