Structural Design and Experiments of a Dynamically Balanced Inverted Four-Bar Linkage as Manipulator Arm for High Acceleration Applications

Industrial robotic manipulators in pick-and-place applications require short settling times to achieve high productivity. The fluctuating reaction forces and moments on the base of a dynamically unbalanced manipulator, however, cause base vibrations, leading to increased settling times. These base vibrations can be eliminated with dynamic...

Graphic analysis of the linear and angular momentum of a dynamically balanced 1-dof pantographic linkage

This article presents a graphical analysis method for the verification of the gravity force balance and shaking force and shaking moment balance of a 1-DoF pantographic linkage. First the joint velocities of the linkage are graphically found of which the procedure is well known. To obtain the linear and angular momentum graphically, the mass...