Dynamics Analysis of a Three-DOF Planar Serial-Parallel Mechanism for Active Dynamic Balancing with Respect to a Given Trajectory

Autor: Kun Wang, Minzhou Luo, Tao Mei, Jianghai Zhao, Yi Cao
Jazyk: angličtina
Rok vydání: 2013
Předmět:
Zdroj: International Journal of Advanced Robotic Systems, Vol 10 (2013)
Druh dokumentu: article
ISSN: 1729-8814
DOI: 10.5772/54201
Popis: The concept of dynamic balancing with respect to a given trajectory is proposed in this paper. Trajectory-based dynamic balancing is a technique that brings additional mechanisms to unbalanced mechanisms with the purpose of actuating the original mechanism to move along a predefined trajectory, regardless of the shaking forces and moments. In this work, a planar three degrees of freedom (3-DOF) serial-parallel mechanism is proposed to implement this technique on an unbalanced platform. The overall structure of the system is firstly introduced and the mechanical design and kinematics of the proposed mechanism is then presented. The dynamic model of the mechanism and the platform is derived and analysed. Finally, numerical examples are presented to verify the effectiveness of the active dynamic balancing mechanism and the improved dynamic performance of the system.
Databáze: Directory of Open Access Journals
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