Dynamic Modelling and Control of Balanced Parallel Mechanisms (original) (raw)

Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots, 2016

Abstract

Balancing is an important issue related to the design of mechanical systems in general, and also parallel mechanisms, in particular. In fact, the performance of parallel mechanisms associated with specific applications depends on the choice of the balancing method, namely, either static or dynamic, either passive or active, whether it is valid for a given trajectory or even for any motion. The main contribution of this work is to highlight the importance of the dynamic modelling process in order to achieve the compensation conditions associated with the chosen balancing technique. Due to the fact that parallel mechanisms have highly complex structures, the use of dynamic formalisms that employ redundant generalized coordinates, in association with the successive coupling of additional balancing elements to the original system model, can bring remarkable benefits. Additionally, this book chapter also discusses the impact of the dynamic model, developed in accordance with the methodology shown here, for the control strategy of parallel mechanisms. Finally, the simulation results demonstrate how effective is the presented methodology for the planar 5-bar with revolute joints (5R).

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