The constant inertia mechanism and its use in a high-speed 2-DoF inherently dynamically balanced parallel manipulator

The constant inertia mechanism and its use in a high-speed 2-DoF inherently dynamically balanced parallel manipulator

Boere, Dennis (TU Delft Mechanical, Maritime and Materials Engineering)

van der Wijk, V. (graduation committee)
Herder, J.L. (mentor)
Meijaard, J.P. (graduation committee)

Delft University of Technology

Mechanical Engineering | Mechatronic System Design (MSD)

2022-09-27

Robotic manipulators are desired to keep their settling time as low as possible for the pick-and-place industry. If the settling time is lower, more cycles can be made, increasing productivity. For high-speed parallel manipulators, a significant vibration cause that increases the settling time is the movable mass and inertia. By dynamic balancing a manipulator, these vibrations can be eliminated. However, balancing a structure relies on adding mass and inertia to movable links, which decreases controllability. This thesis presents 2-DoF inherently dynamically balanced structures that make use of a constant inertia mechanism. Inherently balanced relies on structures that balance themself and do not need active counter-balancing, which is hard to control. A prototype of a 2-DoF, inherently dynamically balanced parallel manipulator is designed and optimized for controllability. By experimental verification, a reduction of 93.6% and 88.9% in shaking force and shaking moment, respectively, compared to the unbalanced case, is obtained for the first DoF and a 97.2% and 93.4% reduction, respectively, for the second DoF. The manipulator had a measured lowest eigenfrequency of 91 Hz and a workspace of about 20 cm. Up to 8 G of tip acceleration was achieved. So fully inherently dynamic balancing can be combined with high accelerations.

http://resolver.tudelft.nl/uuid:77e59bb6-87db-49cc-b482-456125663bcd

2022-09-27

Student theses

master thesis

© 2022 Dennis Boere