An experimental study of the effects of counterweights on a six-bar chain

Walker, Martin; Haines, Roger

doi:10.1016/0094-114x(82)90027-1

Cited by 13 publications

(8 citation statements)

References 3 publications

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“…In some cases where for applications (i.e., parallel robots adopted as machine tools, surgical devices or sensors) that are commonly characterized by low velocities and accelerations, static balancing may provide a suitable approach [ 10 , 11 ], even in cases where counterweights are installed [ 12 , 13 , 14 ]. In addition, it is advised that making the CoM invariant through force balancing (which is a necessary condition for achieving complete dynamic balancing) may still result in a non-zero shaking force (and shaking moment) due to elastodynamic phenomena [ 15 , 16 , 17 ]. Elastodynamic phenomena is out of the scope of this study, and will be addressed separately in future work.…”

Section: Introductionmentioning

confidence: 99%

Design and Integration for High Performance Robotic Systems Based on Decomposition and Hybridization Approaches

Zhang

Wei

2017

Sensors

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Currently, the uses of robotics are limited with respect to performance capabilities. Improving the performance of robotic mechanisms is and still will be the main research topic in the next decade. In this paper, design and integration for improving performance of robotic systems are achieved through three different approaches, i.e., structure synthesis design approach, dynamic balancing approach, and adaptive control approach. The purpose of robotic mechanism structure synthesis design is to propose certain mechanism that has better kinematic and dynamic performance as compared to the old ones. For the dynamic balancing design approach, it is normally accomplished based on employing counterweights or counter-rotations. The potential issue is that more weight and inertia will be included in the system. Here, reactionless based on the reconfiguration concept is put forward, which can address the mentioned problem. With the mechanism reconfiguration, the control system needs to be adapted thereafter. One way to address control system adaptation is by applying the “divide and conquer” methodology. It entails modularizing the functionalities: breaking up the control functions into small functional modules, and from those modules assembling the control system according to the changing needs of the mechanism.

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Section: Introductionmentioning

confidence: 99%

Design and Integration for High Performance Robotic Systems Based on Decomposition and Hybridization Approaches

Zhang

Wei

2017

Sensors

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“…is required to be stationary, and they were widely investigated [17]. Studies dealing with force balancing provide useful information concerning possible critical issues related to the introduction of balancing counterweights [18][19][20][21].…”

Section: Introductionmentioning

confidence: 99%

Static balancing of a parallel kinematics machine with Linear-Delta architecture: theory, design and numerical investigation

Martini

Troncossi

Carricato

et al. 2015

Mechanism and Machine Theory

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“…Indeed an increment of driving actions and joint reactions is somewhat expected during these transients. In addition, the presence of high transient loads may excite the system natural frequencies [10][11][12][13][14][15]. While the former phenomena may be deemed as acceptable if occurring over a small percentage of the working cycle, the latter ones might be revealed particularly critical, since high vibration levels are ordinarily detrimental for the performance of any machinery.…”

Section: Introductionmentioning

confidence: 99%

Elastodynamic Effects of Mass-Balancing: Experimental Investigation of a Four-Bar Linkage

Martini

Troncossi

Rivola

2013

Advances in Mechanical Engineering

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This paper deals with static balancing of closed-loop mechanisms. The long-term goal of the research is enhancing the performance of parallel robots by means of effective static balancing strategies that take into account the system dynamic behaviour. In this contribution, the influence of mass-balancing on the elastodynamic performance of a four-bar linkage, intended as the simplest example of closed-loop mechanism, is experimentally investigated. The design of the experimental apparatus is discussed and the results of tests on both an unbalanced linkage and its balanced variant are presented. Base-transmitted forces and vibrations are monitored for constant-speed operations and for velocity ramp tests in order to characterize the elastodynamic behaviour of the linkages. The analysis is supported by implementing a flexible multibody model of the experimental apparatus that enhances the interpretation of the experimental data.

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An experimental study of the effects of counterweights on a six-bar chain

Cited by 13 publications

References 3 publications

Design and Integration for High Performance Robotic Systems Based on Decomposition and Hybridization Approaches

Design and Integration for High Performance Robotic Systems Based on Decomposition and Hybridization Approaches

Static balancing of a parallel kinematics machine with Linear-Delta architecture: theory, design and numerical investigation

Elastodynamic Effects of Mass-Balancing: Experimental Investigation of a Four-Bar Linkage

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