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

Martini, Alberto; Troncossi, Marco; Carricato, Marco; Rivola, Alessandro

doi:10.1016/j.mechmachtheory.2015.03.003

Cited by 35 publications

(26 citation statements)

References 28 publications

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“…It shows promise in surgical and prosthetic applications [31]. Research into methods for static balancing is ongoing, including use of the pseudo-rigid-body model [32,33], numerical methods [34], and the building block approach [35].…”

Section: ]mentioning

confidence: 99%

Compliant constant-force linear-motion mechanism

Tolman

Merriam

Howell

2016

Mechanism and Machine Theory

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A fully compliant constant-force mechanism that uses an initially angled parallelguiding mechanism is proposed. A pseudo-rigid-body model (PRBM) of the mechanism is developed and validated using both finite element models and experimental prototype testing. The PRBM is used as a preliminary design tool to identify parameters that result in a constant-force mechanism. An adjustable version of the mechanism is also proposed and is used to assess the range of validity of the PRBM and highlights how the system response can be varied by changing the flexible beams inclination. A finite element based optimization is used to create a modified version of the mechanism that incorporates beam-end rotation effects and offers greater performance. Potential applications for the mechanism are discussed and it is demonstrated as a component of a statically balanced system. 10 for constant-force mechanisms range from devices such as snap fits [12], to microelectromechanical systems [13, 14]. Early constant-force mechanisms were constant-force tension springs which are also known as Negator springs [15]. These springs consist of a strip of spring steel in a tightly wound coil and are found in consumer items such as tape 15 measures and pull-starts. Nathan proposed a rigid link constant-force generator

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Section: ]mentioning

confidence: 99%

Compliant constant-force linear-motion mechanism

Tolman

Merriam

Howell

2016

Mechanism and Machine Theory

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“…A comprehensive review of the methods with illustrative examples can be seen in Reference [13]. Specific applications to robotics can be seen in Reference [14][15][16][17][18][19][20], and a review of these kinds of applications is in Reference [21].…”

Section: Introductionmentioning

confidence: 99%

An Alternative Method for Shaking Force Balancing of the 3RRR PPM through Acceleration Control of the Center of Mass

et al. 2020

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The problem of shaking force balancing of robotic manipulators, which allows the elimination or substantial reduction of the variable force transmitted to the fixed frame, has been traditionally solved by optimal mass redistribution of the moving links. The resulting configurations have been achieved by adding counterweights, by adding auxiliary structures or, by modifying the form of the links from the early design phase. This leads to an increase in the mass of the elements of the mechanism, which in turn leads to an increment of the torque transmitted to the base (the shaking moment) and of the driving torque. Thus, a balancing method that avoids the increment in mass is very desirable. In this article, the reduction of the shaking force of robotic manipulators is proposed by the optimal trajectory planning of the common center of mass of the system, which is carried out by "bang-bang" profile. This allows a considerable reduction in shaking forces without requiring counterweights, additional structures, or changes in form. The method, already presented in the literature, is resumed in this case using a direct and easy to automate modeling technique based on fully Cartesian coordinates. This permits to express the common center of mass, the shaking force, and the shaking moment of the manipulator as simple analytic expressions. The suggested modeling procedure and balancing technique are illustrated through the balancing of the 3RRR planar parallel manipulator (PPM). Results from computer simulations are reported.

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“…robotically assisted surgery and machining tasks [9,10]. In particular, the implementation of a gravity compensation strategy is expected to significantly enhance the operation of parallel kinematics machine tools (PKMs), which typically meet all the mentioned specifications [12][13][14][15][16].…”

Section: Introductionmentioning

confidence: 99%

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

Cited by 35 publications

References 28 publications

Compliant constant-force linear-motion mechanism

Compliant constant-force linear-motion mechanism

An Alternative Method for Shaking Force Balancing of the 3RRR PPM through Acceleration Control of the Center of Mass

Gravity compensation of a 6-UPS parallel kinematics machine tool through elastically balanced constant-force generators

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