By Vigen Arakelian, Sébastien Briot
In this ebook complicated balancing equipment for planar and spatial linkages, hand operated and automated robotic manipulators are offered. it really is geared up into 3 major elements and 8 chapters. the most components are the advent to balancing, the balancing of linkages and the balancing of robotic manipulators. The evaluation of state of the art literature together with greater than 500 references discloses particularities of shaking force/moment balancing and gravity repayment tools. Then new equipment for balancing of linkages are thought of. equipment supplied within the moment a part of the e-book take care of the partial and entire shaking force/moment balancing of varied linkages. a brand new box for balancing tools functions is the layout of mechanical structures for quick manipulation. unique realization is given to the shaking force/moment balancing of robotic manipulators. Gravity balancing equipment also are mentioned. The recommended balancing tools are illustrated through a variety of examples.
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Extra resources for Balancing of Linkages and Robot Manipulators: Advanced Methods with Illustrative Examples
However, in this case, thanks to the cable, it is possible to consider that lAB = l −l0 , which leads to the condition m g s = k a r, with F0 = 0. So, the rotating link can be balanced with a non-zero free length spring. 17 shows several examples of gravity compensation using a cable and pulley arrangement. 34 2 An Overview of Balancing Methods R d 15 17 5 11 A 18 G l h B 14 16 12 19 13 A 24 20 4 a b 4 3 5 4 C 2 6 A G c O B 1 1' 8 3 Middle pulleys 2 1 k1 k2 Outside pulley d Fig. 17 Gravity compensation by using a cable and pulley arrangement: a (van Dorsser et al.
The examples given in Fig. 12 show serial manipulators comprising auxiliary systems equipped with the counterweights. (Arakelian et al. 1989) also proposed to cancel the weight of the payload via moving counterweights. Such an approach has also been used in (Arakelian 1987, 1988; Zayzev 1981). The counterweight balancing of a mine detection vehicle through the use of a pantograph manipulator has been studied in (Fukushima et al. 2005). It has been shown that the robot arm with properly dimensioned counterweights can be efficiently actuated with very low power and energy consumption.
Thus, a primary objective of the balancing is to cancel or reduce the variable dynamic loads transmitted to the frame and surrounding structures. The reduction of vibrations leads to the increased accuracy of manipulators (Foucault and Gosselin 2002), which is one of the positive consequences of the balancing. As was mentioned in (van der Wijk et al. 2012), balancing brings other advantages such as a reduced cycle time (Raaijmakers 2007), reduced noise, wear and fatigue (Lowen and Berkof 1968), as well as improved ergonomics (Ishida and Matsuda 1979).
Balancing of Linkages and Robot Manipulators: Advanced Methods with Illustrative Examples by Vigen Arakelian, Sébastien Briot