کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
802138 | 1467744 | 2015 | 14 صفحه PDF | دانلود رایگان |
![عکس صفحه اول مقاله: Static balancing of a parallel kinematics machine with Linear-Delta architecture: theory, design and numerical investigation Static balancing of a parallel kinematics machine with Linear-Delta architecture: theory, design and numerical investigation](/preview/png/802138.png)
• Gravity compensation of a 3-DOF spatial parallel mechanism is analytically performed.
• A feasible solution with two balancing springs and one auxiliary linkage is presented.
• Static balancing reduces the robot estimated energy requirements for common tasks.
• The compensation effectiveness is marginally affected by potential design inaccuracies.
This study deals with the compensation of gravity loads in parallel kinematics machines as a possible strategy for enhancing their working performance. In particular, the paper focuses on the static balancing of the Orthoglide 5-axis, a prototypal parallel robot with Linear-Delta architecture for machining operation. Gravity compensation is analytically carried out and a feasible design, based on tension springs and a simple additional linkage, is presented to implement the proposed strategy. Simulation results prove that the balancing device may provide an appreciable enhancement of the mechanism energy efficiency.
Journal: Mechanism and Machine Theory - Volume 90, August 2015, Pages 128–141