Static balancing of parallel robots

Mechanism and Machine Theory

Volumn 40, Issue 2, 2005, Pages 191-202

  Russo, Andrea ^a   Sinatra, Rosario ^a   Xi, Fengfeng ^b  

^a UNIVERSITY OF CATANIA   (Italy)

^b RYERSON UNIVERSITY   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

COUNTERWEIGHT; GRAVITY COMPENSATION; INERTIAL PARAMETERS; STATIC BALANCING;

ACTUATORS; BALANCING; DEGREES OF FREEDOM (MECHANICS); FLIGHT SIMULATORS; MANIPULATORS; PARAMETER ESTIMATION; PERFORMANCE; VECTORS;

ROBOTS;

EID: 11244353465     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechmachtheory.2004.06.011     Document Type: Article

References (13)

1. R.H. Nathan A constant force generation mechanism ASME Journal of Mechanism, Transmissions, and Automation in Design 107 4 1985 508 512
2. J.M. Hervé, Device for counter-balancing the forces due to gravity in a robot arm, United States Patent, 4,620,829, May 1986
3. D.A Streit, and B.J. Gilmore Perfect spring equilibrator for rotatable bodies ASME Journal of Mechanisms, Transmissions, and Automation in Design 111 4 1989 451 458
4. G.J. Walsh, D.A. Strei, and B.J. Gilmore Spatial spring equilibrator theory Mechanism and Machine Theory 26 2 1991 155 170
5. D.A. Streit, and E. Shin Equilibrators for planar linkage Proceedings of the ASME Mechanism Conference, Chicago DE-25 1990 21 28
6. N. Ulrich, and V. Kumar Passive mechanical gravity compensation for robot manipulators Proceedings of the IEEE International Conference on Robotics and Automation, Sacramento 1991 1536 1541
7. H. Kazerooni, and S. Kim A new architecture for direct drive robot Proceedings of the ASME Mechanism Conference, Chicago DE-25 1990 21 28
8. C.M. Gosselin, and J. Wang On the design of gravity-compensated six-degree-of-freedom parallel mechanisms Proceedings of IEEE International Conference on Robotics and Automation Leuven, Belgium 1998 May
9. J. Wang, and C.M. Gosselin Static balancing of spatial three degree freedom parallel mechanism Mechanism and Machine Theory 34 1999 437 452
10. J. Wang, and C.M. Gosselin Static balancing of spatial four-degree-of freedom parallel mechanisms Mechanism and Machine Theory 35 2000 563 592
11. F. Xi, and R. Sinatra Inverse dynamics of hexapods using the natural orthogonal complement methods Journal of Manufacturing Systems 21 2 2002 73 82
12. F. Xi, R. Sinatra, and W. Han Effect of leg inertia on hexapod dynamics considering high speed application ASME Journal of Dynamics Measurement and Control 123 2001 256 271
13. F. Xi Dynamic balancing of hexapods for high-speed applications Robotica 17 1999 335 342