Static balancing can improve the dynamic performance in parallel manipulators

Static balancing can improve the dynamic performance in parallel manipulators: Method and experimental evaluation on the Arrow robot

Overwijk, T.T.

Lambert, P. (mentor)
Herder, J.L. (mentor)

Mechanical, Maritime and Materials Engineering

Precision and Microsystems Engineering

2017-01-25

Static balancing is a technique to create static equilibrium in a mechanism for any configuration. Auxiliary links and many springs are usually added to achieve static balance for spatial parallel mechanisms. This increases inertia and complexity of the system. This paper first presents a theoretically perfect static balancing solution for a four degree of freedom system, by adding one zero-free-length spring and no additional links. Then a prototype, which is optimized based on isotropic acceleration, is presented. A static balancing quality of 98.7% was achieved for this prototype. Finally a dynamic evaluation (both method and experimental), in terms of isotropic acceleration, is performed for the static balancing solution on the Arrow robot. This study shows that, for parallel manipulators, in theory the same isotropic acceleration is achieved with an actuator torque reduction equal to the gravity force (mg). And that in practice, when mass is added to the system to implement a static balancing solution, a break-even-point may exist.

Static balancing
Parallel kinematic manipulators
Isotropic acceleration

http://resolver.tudelft.nl/uuid:0054059c-5e92-42f7-819d-74db5f02af71

2018-01-25

Student theses

master thesis

(c) 2017 Overwijk, T.T.