By Vigen Arakelian, Sébastien Briot
In this publication complex balancing tools for planar and spatial linkages, hand operated and automated robotic manipulators are offered. it's prepared into 3 major components and 8 chapters. the most elements are the advent to balancing, the balancing of linkages and the balancing of robotic manipulators. The assessment of cutting-edge literature together with greater than 500 references discloses particularities of shaking force/moment balancing and gravity reimbursement tools. Then new tools for balancing of linkages are thought of. tools supplied within the moment a part of the e-book care for the partial and entire shaking force/moment balancing of assorted linkages. a brand new box for balancing equipment functions is the layout of mechanical structures for speedy manipulation. particular realization is given to the shaking force/moment balancing of robotic manipulators. Gravity balancing equipment also are mentioned. The prompt balancing equipment are illustrated through a variety of examples.
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Extra info for Balancing of Linkages and Robot Manipulators: Advanced Methods with Illustrative Examples
The term “balanced manipulator” shows that in the operating procedure of these systems, it is very important to achieve an accurate compensation of gravity. Many studies and design concepts have been devoted to the gravity compensation of HOBM (Olsen 1964, 1966; Matsumoto 1975; Hank 1976, 1987; Krsnak and Howe 1976; Previdia et al. 2012; Arakelian 1986, 1998a; Arakelian and al. 1991; Djavakhian 1987, 1990; Djavakhian and Djavakhian 1988; Moor and Akouna 2003; Haaker 1968; Kiyoaki 1999; Bittenbinder 1995; Gvozdev 1981; Popov and Tyurin 1987, 1989; Vladov and Danilevskij, 1981, 1999; Mishkind 1981; Derkach and Umantsev 1990; Kfoury 2013; Heiko 1998; Derkach 1993).
In the mentioned studies, the authors overlook this fact. 4 Shaking Force Balancing by Adjustment of Kinematic Parameters The studies (Ouyang and Zhang 2002, 2005) deal with the synthesis of the balanced five-bar mechanism via changing the geometric and kinematic parameters of the mechanical structure. The shaking force balancing leads to the conditions which are traditionally satisfied by the redistribution of moving masses. In the mentioned studies, the mass of the link is considered unchanged and the length and the mass center of the links are determined in order to carry out the shaking force balancing.
The study (Agrawal and Shirumalla 1995) deals with a novel scheme for motion planning of a dual-arm free-floating planar manipulator where one arm must perform desired tasks while the other provides compensating motions to keep the base inertially fixed. The use of kinematic redundancy for robot base reaction reduction was explored in (Chung and Desa 1989; Quinn et al. 1994). The given numerical examples demonstrated that the developed approach is effective for reducing base reactions for planar and spatial robots.