Gravity compensation of a 6-UPS parallel kinematics machine tool through elastically balanced constant-force generators
Gravity compensation is a viable strategy to improve the performance of manipulators, particularly in terms of power consumption. This work studies the static balancing of a prototypal 5-axis parallel kinematics machine tool with UPS-legs. Exact gravity compensation is achieved by turning the legs i...
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| Format: | Article |
| Language: | English |
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University of Belgrade - Faculty of Mechanical Engineering, Belgrade
2018-01-01
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| Series: | FME Transactions |
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| Online Access: | https://scindeks-clanci.ceon.rs/data/pdf/1451-2092/2018/1451-20921801010M.pdf |