By Vigen Arakelian, Sébastien Briot
In this ebook complicated balancing tools for planar and spatial linkages, hand operated and automated robotic manipulators are awarded. it really is geared up into 3 major elements and 8 chapters. the most elements are the creation to balancing, the balancing of linkages and the balancing of robotic manipulators. The overview of cutting-edge literature together with greater than 500 references discloses particularities of shaking force/moment balancing and gravity repayment equipment. Then new tools for balancing of linkages are thought of. equipment supplied within the moment a part of the publication care for the partial and whole shaking force/moment balancing of assorted linkages. a brand new box for balancing tools purposes is the layout of mechanical structures for quick manipulation. precise realization is given to the shaking force/moment balancing of robotic manipulators. Gravity balancing tools also are mentioned. The instructed balancing tools are illustrated by way of various examples.
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Additional info for Balancing of Linkages and Robot Manipulators: Advanced Methods with Illustrative Examples
2 Shaking Force Balancing by Adding Auxiliary Structures Different approaches have been developed in order to keep the total centre of mass of moving links stationary by adding auxiliary structures. In (Agrawal and Fattah 2004b; Fattah and Agrawal 2003, 2005a), the parallelograms were used as auxiliary structures in order to create balanced manipulators. As shown in Fig. 6, three scaled links are added to form parallelograms and are then used to identify the center of mass C. For the 3-link mechanism, the system consists of parallelograms in two layers: the first layer has two parallelograms while the second layer has one.
This allows optimization of the gravity compensation by applying linkage synthesis methods. 3 Gravity Balancing in Robotics 37 a b c d e f Fig. 20 Gravity compensation by using auxiliary linkages: a and b (Simionescu and Ciupitu 2000a); c (Minotti and Pracht 1988); d (Segla et al. 1998); e (Dzhavakhyan and Dzhavakhyan 1989); f (Hervé 1985) Gravity compensation of links that have translational and vertical motions has also been studied. Four illustrative examples are given in Fig. 24. The primary equations of static equilibrium between the vertical load P (Fig.
Regarding the actuator carrying out the vertical translations of the platform, it carries the payload and the increase of the input force is significant. More detailed information about the properties of the manipulator PAMINSA will be presented in Sect. 2. 44 2 An Overview of Balancing Methods Mv M1 M2 M3 Fig. 29 3D view and the prototype of the PAMINSA. (Briot et al. 2008a) Fig. 2 Gravity Compensation in Hand-Operated Balanced Manipulators (HOBM) The HOBM (Fig. 30) is a handling system with a simple mechanical actuator in which the manipulated object in any position of the workspace is balanced (Arakelian 2004b).