By Topic

Static balancing of planar parallel manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Jean, M. ; Dept. de Genie Mecanique, Laval Univ., Que., Canada ; Gosselin, C.M.

In this paper, the static balancing of planar parallel manipulators is addressed. Static balancing is defined here as the set of conditions on manipulator dimensional and inertial parameters which, when satisfied, ensure that the weight of the links does not produce any force (or torque) at the actuators for any configuration of the manipulator, under static conditions. These conditions are derived here for planar one-, two- and three-degree-of-freedom parallel manipulators. Subspaces of the parameter space which are associated with statically balanced mechanisms are then defined. It is shown that balancing is generally possible even when the dimensional parameters are imposed, which is a useful property since dimensional parameters are usually obtained from kinematic design or optimization. Finally, examples of balanced planar parallel manipulators are given. Static balancing leads to considerable reduction in the actuator forces (or torques), which in turn leads to less powerful actuators and more efficient designs

Published in:

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on  (Volume:4 )

Date of Conference:

22-28 Apr 1996