By Vigen Arakelian, Sébastien Briot
In this e-book complicated balancing tools for planar and spatial linkages, hand operated and automated robotic manipulators are provided. it's geared up into 3 major elements and 8 chapters. the most elements are the advent to balancing, the balancing of linkages and the balancing of robotic manipulators. The evaluation of cutting-edge 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. tools 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 speedy manipulation. specified recognition is given to the shaking force/moment balancing of robotic manipulators. Gravity balancing tools also are mentioned. The recommended balancing equipment are illustrated by means of quite a few examples.
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Extra info for Balancing of Linkages and Robot Manipulators: Advanced Methods with Illustrative Examples
The adding of the cable and pulley allows the full gravity compensation by using a non-zero free length spring. Let us consider a simple example in order to understand the effect of the additional cable in the gravity compensation of a rotating link (Fig. 16). 2) where h = a r/ lAB sin ϕ. 1) when the length l of the spring is equal to lAB . 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.
2007; Rizk et al. 2008; Nakayama et al. 2009; Agrawal et al. 2009a). Let us examine a few examples. The design concept given in Figs. 36 (Agrawal et al. 3 Gravity Balancing in Robotics 49 Fig. 37 Engineering prototypes. (Banala et al. 2004; Agrawal et al. 2007) method: first, the centre of mass of the leg is geometrically located using a parallelogram mechanism, then the springs are placed at suitable positions in order to fully compensate the effect of gravity over the range of motion. 37 shows the modified engineering prototypes of the gravity compensation mechanisms, which were used in the experiments (Banala et al.
40 2 An Overview of Balancing Methods a b c d e f Fig. 23 Gravity compensation by using gears: a (Popov and Tyurin 1983); b (Gvozdev 1992); c (Gvozdev 1990); d (Gvozdev 1987); e (Cho et al. 2011); f (Cho et al. 2012) The gravity compensation technique developed in (Lauzier et al. 2009; Lacasse et al. 2013; Laliberté et al. 2010) uses remote counterweights connected to the robot via a hydraulic transmission. As has been shown in (Lacasse et al. 2013) the built prototype of the 7-dof robot is able to adapt its balancing counterweights to a payload of up to 10 kg, which was a maximal payload for the tested prototype.