A geometric approach to the static balancing of mechanisms constructed using spherical kinematic chain units

被引:18
作者
Wang, Jieyu [1 ,2 ]
Kong, Xianwen [2 ]
机构
[1] Beihang Univ, Sch Mech Engn & Automat, Robot Inst, Beijing 100191, Peoples R China
[2] Heriot Watt Univ, Sch Engn & Phys Sci, Edinburgh EH14 4AS, Midlothian, Scotland
关键词
Static balancing; Springs; Spherical mechanisms; Mass moment substitution; DESIGN; EQUILIBRATORS; MANIPULATORS;
D O I
10.1016/j.mechmachtheory.2019.06.003
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
A geometric method to the static balancing of mechanisms constructed using spherical chain units is presented. A (serial) spherical kinematic chain unit is composed of n moving links, whose masses are considered, connected by revolute (R) joints the axes of which intersect at a fixed point. The mass of each link can be balanced using one spring without any auxiliary parallelogram. The balancing can be achieved readily with almost no calculation. One end of each spring is fixed right above the intersection of the joint axes and the other end is attached to the point that is on the line defined by the intersection and the equivalent center of mass of the corresponding link (combining the masses of the link and the payload). This method is then applied to the mechanisms constructed using spherical kinematic chain units, and the ones constructed using spherical kinematic chain units and other types of kinematic chain units. By distributing the mass of a link onto its adjacent links, the static balancing of the mechanism is reduced to those of several spherical kinematic chain units, which can be balanced using the proposed method. Two examples are given, including a Bennett plano-spherical hybrid linkage and a 3-RRS parallel mechanism to illustrate the proposed method for static balancing. (C) 2019 Elsevier Ltd. All rights reserved.
引用
收藏
页码:305 / 320
页数:16
相关论文
共 47 条
[1]   Gravity-balancing of spatial robotic manipulators [J].
Agrawal, SK ;
Fattah, A .
MECHANISM AND MACHINE THEORY, 2004, 39 (12) :1331-1344
[2]  
[Anonymous], 2003, THESIS
[3]  
Bai G., 2015, ASME 2015 INT DES EN
[4]   Spring-to-Spring Balancing as Energy-Free Adjustment Method in Gravity Equilibrators [J].
Barents, Rogier ;
Schenk, Mark ;
van Dorsser, Wouter D. ;
Wisse, Boudewijn M. ;
Herder, Just L. .
JOURNAL OF MECHANICAL DESIGN, 2011, 133 (06)
[5]   The parallel motion of sarrut and some allied mechanisms. [J].
Bennett, G. T. .
PHILOSOPHICAL MAGAZINE, 1905, 9 (49-54) :803-810
[6]   Design of a Compact Gravity Equilibrator With an Unlimited Range of Motion [J].
Bijlsma, Bob G. ;
Radaelli, Giuseppe ;
Herder, Just L. .
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 2017, 9 (06)
[7]  
BRIOT S, 2015, P 14 INT FED PROM ME
[8]   Design of planar variable-payload balanced articulated manipulators with actuated linear ground-adjacent adjustment [J].
Chiang, Wei-Hsuan ;
Chen, Dar-Zen .
MECHANISM AND MACHINE THEORY, 2017, 109 :296-312
[9]   A 2-dof gravity compensator with bevel gears [J].
Cho, Changhyun ;
Lee, Woosub ;
Lee, Jinyi ;
Kang, Sungchul .
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2012, 26 (09) :2913-2919
[10]   A Single-Degree-of-Freedom Self-Regulated Gravity Balancer for Adjustable Payload1 [J].
Chu, Yu-Lin ;
Kuo, Chin-Hsing .
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 2017, 9 (02)