Dynamics Analysis of a Three-DOF Planar Serial-Parallel Mechanism for Active Dynamic Balancing with Respect to a Given Trajectory
The concept of dynamic balancing with respect to a given trajectory is proposed in this paper. Trajectory-based dynamic balancing is a technique that brings additional mechanisms to unbalanced mechanisms with the purpose of actuating the original mechanism to move along a predefined trajectory, rega...
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Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.5772/54201 |
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doaj-1fae696bb40c41b8b55b2c096bf4655b2020-11-25T03:45:10ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142013-01-011010.5772/5420110.5772_54201Dynamics Analysis of a Three-DOF Planar Serial-Parallel Mechanism for Active Dynamic Balancing with Respect to a Given TrajectoryKun Wang0Minzhou Luo1Tao Mei2Jianghai Zhao3Yi Cao4 Institute of Advanced Manufacturing Technology, Hefei Institute of Physical Science, Chinese Academy of Sciences, Changzhou, Jiangsu Province, China Institute of Advanced Manufacturing Technology, Hefei Institute of Physical Science, Chinese Academy of Sciences, Changzhou, Jiangsu Province, China Institute of Advanced Manufacturing Technology, Hefei Institute of Physical Science, Chinese Academy of Sciences, Changzhou, Jiangsu Province, China Institute of Advanced Manufacturing Technology, Hefei Institute of Physical Science, Chinese Academy of Sciences, Changzhou, Jiangsu Province, China School of Mechanical Engineering, Jiangnan University, Wuxi, Jiangsu Province, ChinaThe concept of dynamic balancing with respect to a given trajectory is proposed in this paper. Trajectory-based dynamic balancing is a technique that brings additional mechanisms to unbalanced mechanisms with the purpose of actuating the original mechanism to move along a predefined trajectory, regardless of the shaking forces and moments. In this work, a planar three degrees of freedom (3-DOF) serial-parallel mechanism is proposed to implement this technique on an unbalanced platform. The overall structure of the system is firstly introduced and the mechanical design and kinematics of the proposed mechanism is then presented. The dynamic model of the mechanism and the platform is derived and analysed. Finally, numerical examples are presented to verify the effectiveness of the active dynamic balancing mechanism and the improved dynamic performance of the system.https://doi.org/10.5772/54201 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Kun Wang Minzhou Luo Tao Mei Jianghai Zhao Yi Cao |
spellingShingle |
Kun Wang Minzhou Luo Tao Mei Jianghai Zhao Yi Cao Dynamics Analysis of a Three-DOF Planar Serial-Parallel Mechanism for Active Dynamic Balancing with Respect to a Given Trajectory International Journal of Advanced Robotic Systems |
author_facet |
Kun Wang Minzhou Luo Tao Mei Jianghai Zhao Yi Cao |
author_sort |
Kun Wang |
title |
Dynamics Analysis of a Three-DOF Planar Serial-Parallel Mechanism for Active Dynamic Balancing with Respect to a Given Trajectory |
title_short |
Dynamics Analysis of a Three-DOF Planar Serial-Parallel Mechanism for Active Dynamic Balancing with Respect to a Given Trajectory |
title_full |
Dynamics Analysis of a Three-DOF Planar Serial-Parallel Mechanism for Active Dynamic Balancing with Respect to a Given Trajectory |
title_fullStr |
Dynamics Analysis of a Three-DOF Planar Serial-Parallel Mechanism for Active Dynamic Balancing with Respect to a Given Trajectory |
title_full_unstemmed |
Dynamics Analysis of a Three-DOF Planar Serial-Parallel Mechanism for Active Dynamic Balancing with Respect to a Given Trajectory |
title_sort |
dynamics analysis of a three-dof planar serial-parallel mechanism for active dynamic balancing with respect to a given trajectory |
publisher |
SAGE Publishing |
series |
International Journal of Advanced Robotic Systems |
issn |
1729-8814 |
publishDate |
2013-01-01 |
description |
The concept of dynamic balancing with respect to a given trajectory is proposed in this paper. Trajectory-based dynamic balancing is a technique that brings additional mechanisms to unbalanced mechanisms with the purpose of actuating the original mechanism to move along a predefined trajectory, regardless of the shaking forces and moments. In this work, a planar three degrees of freedom (3-DOF) serial-parallel mechanism is proposed to implement this technique on an unbalanced platform. The overall structure of the system is firstly introduced and the mechanical design and kinematics of the proposed mechanism is then presented. The dynamic model of the mechanism and the platform is derived and analysed. Finally, numerical examples are presented to verify the effectiveness of the active dynamic balancing mechanism and the improved dynamic performance of the system. |
url |
https://doi.org/10.5772/54201 |
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