By Topic

Static balancing of 3-DOF planar parallel mechanisms

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

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

The static balancing of planar 3-DOF parallel mechanisms is addressed in this paper. Static balancing is defined as the set of conditions on mechanism dimensional and inertial parameters which, when satisfied, ensure that the weight of the links does not produce any torque (or force) at the actuators for any configuration of the mechanism, under static conditions. For the mechanisms studied here, conditions for static balancing are obtained, and 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. Then, the conditions for the static balancing of the same mechanisms are derived for designs in which elastic elements are included. Finally, examples of balanced mechanisms are given. A dynamic study is performed

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:4 ,  Issue: 4 )