By Vigen Arakelian, Sébastien Briot

In this ebook complex balancing equipment for planar and spatial linkages, hand operated and automated robotic manipulators are awarded. it truly is prepared into 3 major components and 8 chapters. the most elements are the advent to balancing, the balancing of linkages and the balancing of robotic manipulators. The evaluate of cutting-edge literature together with greater than 500 references discloses particularities of shaking force/moment balancing and gravity reimbursement equipment. Then new tools for balancing of linkages are thought of. equipment supplied within the moment a part of the booklet take care of the partial and entire shaking force/moment balancing of varied linkages. a brand new box for balancing equipment functions is the layout of mechanical platforms for quick manipulation. certain realization is given to the shaking force/moment balancing of robotic manipulators. Gravity balancing tools also are mentioned. The prompt balancing tools are illustrated by way of quite a few examples.

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Extra info for Balancing of Linkages and Robot Manipulators: Advanced Methods with Illustrative Examples

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19). 36 2 An Overview of Balancing Methods Fig. 19 Gravity compensation by using gears. 1: Balancing by using an auxiliary linkage (Leblond and Gosselin 1998; Segla et al. 1998; Saravanana et al. 2008; Herder 2002; Wang and Gosselin 2004; Segla 2004; Fattah and Agrawal 2006b; Popov and Tyurin 1988; Kobrinskii and Kobrinskii 1989; Simionescu and Ciupitu 2000a; Minotti and Pracht 1988; Dzhavakhyan and Dzhavakhyan 1989; Hervé 1985; Kolotenkov 1984; Arakelian and Dahan 1995; Kim and Song 2013; Bartlett et al.

Thus, a primary objective of the balancing is to cancel or reduce the variable dynamic loads transmitted to the frame and surrounding structures. The reduction of vibrations leads to the increased accuracy of manipulators (Foucault and Gosselin 2002), which is one of the positive consequences of the balancing. As was mentioned in (van der Wijk et al. 2012), balancing brings other advantages such as a reduced cycle time (Raaijmakers 2007), reduced noise, wear and fatigue (Lowen and Berkof 1968), as well as improved ergonomics (Ishida and Matsuda 1979).

1984; Lakota and Petrov 1985; Pracht et al. 1987; Kondrin et al. 1990; Petrov and Polishchuk 1979; Ulrich and Kumar 1991; Koser 2009; Akeel 1987; Gvozdev 1992, 1990, 1987; Greene 1995; Cho et al. 2010, 2011, 2012; Frolov and Vorobev 1988) belong to that category. The auxiliary mechanisms have the same effect as the cables and the pulleys. They allow the gravity compensation by using non-zero free length springs. Let us consider two illustrative examples. 18a shows an equilibrator in which rotating link 1 is connected with coulisse 2 and slider 3.

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