Static balancing of spatial parallel platform mechanisms - revisited

Journal of Mechanical Design, Transactions of the ASME

Volumn 122, Issue 1, 2000, Pages 43-51

  Ebert Uphoff, Imme ^a   Gosselin, Clément M ^b   Laliberté, Thierry ^b  

^a GEORGIA INSTITUTE OF TECHNOLOGY   (United States)

^b UNIVERSITÉ LAVAL   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; BALANCING; FLIGHT SIMULATORS; KINEMATICS; TORQUE;

SPATIAL PARALLEL PLATFORM MECHANISMS;

MANIPULATORS;

EID: 0034156258     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.533544     Document Type: Article

References (26)

1. Streit, D., 1991, "Spatial Manipulator and Six Degree of Freedom Platform Spring Equilibrator Theory," in Second National Conference on Applied Mechanisms and Robotics, VIII.B, pp. 1-1-1-6.
2. Berkof, R., and Lowen, G., 1969, "A New Method for Completely Force Balancing Simple Linkages," J. Eng. Ind., 91(B), No. 1, pp. 21-26.
3. Berkof, R., and Lowen, G., 1971, "Theory of Shaking Moment Optimization of Force-Balanced Four-Bar Linkages," J. Eng. Ind., 93(B), pp. 53-60.
4. Kochev, I., 1987, "General Method for Full Force Balancing of Spatial and Planar Linkages by Internal Mass Redistribution," Mech. Mach. Theor., 22, No. 4, pp. 333-341.
5. Kochev, I., 1992, "Qualitative Theory of the Reactions and Stresses in High Speed Planar Linkages," Mech. Mach. Theor., 27, No 1, pp. 59-68.
6. Yu, Y.-Q., 1988, "Complete Shaking Force and Shaking Moment Balancing of Spatial Irregular Force Transmission Mechanisms Using Additional Links," Mech. Mach. Theor., 23, No 4, pp. 279-285.
7. Yu, Y.-Q., 1987, "Research on Complete Shaking Force and Shaking Moment Balancing of Spatial Linkages," Mech. Mach. Theor., 22, No. 1, pp. 27-37.
8. Soper, R., Mook, D., and Reinholtz, C., 1997, "Vibration of Nearly Perfect Spring Equilibrators," in Proceedings of the 1997 ASME Design Engineering Technical Conference, number DAC-3768.
9. Streit, D., and Gilmore, B., 1989, "'Perfect' Spring Equilibralors for Rotatable Bodies," Trans. ASME - J. Mech. Trans. Auto. Des., 111, pp. 451-458.
10. Streit, D., and Shin, E., 1990, "Equilibrators for Planar Linkages," in Proceedings of the ASME Mechanisms Conference, DE-25, pp. 21-28.
11. Streit, D., and Shin, E., 1993, "Equilibrators for Planar Linkages," ASME J. Mech. Des., 115, No. 3, pp. 604-611.
12. Shin, E., and Streit, D., 1991, "Spring Equilibrator Theory for Static Balancing of Planar Pantograph Linkages," Mech. Machine Theor., 26, No. 7, pp. 645-657.
13. Walsh, G., Streit, D., and Gilmore, B., 1991, "Spatial Spring Equilibrator Theory," Mech. Mach. Theor., 26, No. 2, pp. 155-170.
14. Nathan, R., 1985, "A Constant Force Generation Mechanism," Trans. ASME - J. Mech. Trans. Auto. Des., 107, pp. 508-512.
15. Ulrich, N., and Kumar, V., 1991, "Passive Mechanical Gravity Compensation for Robot Manipulators," In IEEE International Conference on Robotics and Automation, pp. 1536-1541.
16. Jean, M., and Gosselin, C., 1996, "Static Balancing of Planar Parallel Manipulators," in Proceedings of the IEEE International Conference on Robotics and Automation, 4, pp. 3732-3737.
17. Dunlop, G., and Jones, T., 1996, "Gravity Counter Balancing of a Parallel Robot for Antenna Aiming," in 6th ISRAM, pp. 153-158.
18. Gosselin, C., 1999, "Static Balancing of Spherical 3-dof Parallel Mechanisms and Manipulators," Int. J. Robotics Res., 18, No. 8, pp. 819-829.
19. Gosselin, C., and Wang, J., 1998, "Static Balancing of Spatial Six-Degree-of-Freedom Parallel Mechanisms with Revolute Actuators," in 1998 ASME Design Engineering Technical Conferences, number DETC/MECH-5961.
20. Wang, J., 1998, "Kinematic Analysis, Dynamic Analysis and Static Balancing of Planar and Spatial Parallel Mechanisms or Manipulators with Revolute Actuators," PhD thesis, Laval University, Québec, Canada.
21. Inoue, IL, Tsusaka, Y., and Fukuizumi, T., 1985, "Parallel Manipulator," in Robotics Research: Third International Symposium, Series in Artificial Intelligence, Gouvieux, France, MIT Press, Cambridge, MA, pp. 321-327.
22. Long, G., Collins, C., and McCarthy, J., 1991, "Design and Control of a Parallel Platform Teleoperator Interface," in Proceedings of the 39th Conference on Remote Systems Technology, San Francisco, CA pp. 257-259.
23. Ceccarelli, M., 1997, "A New 3 D.O.F. Spatial Parallel Mechanism," Mech. Mach. Theory, 32, No. 8, pp. 895-902.
24. Romiti, A., Sorli, M., and Zhmud, N., 1993, "Design and Properties of the Turin 6 D.O.F. Parallel Robot for Deburring Operations," in ISMCR '93: Third International Symposium on Measurement and Control in Robotics, Turino, Italy, pp. Bm.III-1-Bm.III-6,
25. Ebert-Uphoff, I., and Gosselin, C., 1999, "Dynamic Modeling of a Class of Spatial Statically-Balanced Parallel Platform Mechanisms," in 1999 IEEE International Conference on Robotics and Automation, Detroit, MI, pp. 881-888.
26. Gosselin, C., 1997, "Note sur les Conditions d'équilibrage statique de Berkof et Lowen," in Proceedings of the 16th Canadian Congress of Applied Mechanics (CANCAM 97), 1, pp. 497-498, Québec, Canada.