Paper Titles
Soft Material Modeling for Robotic Manipulation
p.184
Evaluation of the Position Error of Four Non-Overconstrained Spherical Parallel Manipulators
p.194
A Parallel Reconfigurable Robot with Six Degrees of Freedom
p.204
On New High Performance Systems with Linear Actuators for Diurnal Orientation of PV Platforms
p.214
Application of Counter-Rotary Counterweights to the Dynamic Balancing of a Spatial Parallel Manipulator
p.224
A Hexapod Walking Micro-Robot with Compliant Legs
p.234
Evaluation of Spring Implementation to Reduce the Required Motor Energy in a Walking Assist Exoskeleton with Linear Actuation (Walking Assist Machine Using Crutches)
p.242
Development of a Closed-Fitting-Type Walking Assistance Device for Rehabilitation
p.252
Development of a Walking-Assistance Apparatus for Neuro-Rehabilitation
p.258

Application of Counter-Rotary Counterweights to the Dynamic Balancing of a Spatial Parallel Manipulator

Article Preview

Abstract:

The dynamic balancing of a spatial parallel manipulator of three degrees-of-freedom, CaPaMan-2 (Cassino Parallel Manipulator 2), by the application of Counter-Rotary Counterweights (CRCW) is analyzed. To accomplish this objective the mass and inertia of the moving platform are dynamically replaced by point masses located at the points of attachment of the legs to the platform and the mechanism is balanced by considering each of the legs independently. This fully parallel manipulator has three identical legs, each one composed by a four-bar mechanism (an articulated parallelogram) connected to the fixed base, and a link supported by the coupler that connects to the mobile platform. This link, seen as a pendulum, is transformed to a dynamic balancer using a Counter-Rotary Counterweight in order to compensate the motion of the moving platform. In a second stage the articulated parallelogram is modified by adding Counter-Rotary Counterweight plus a Counterweight to dynamic balance its part of the system. As a final result it is obtained a new design, with a parallel manipulator dynamic balanced. The resulting model of the manipulator is validated by dynamic simulation, using general purpose software for the analysis and dynamic simulation of multi-body systems (ADAMS).

You might also be interested in these eBooks
Mechanisms, Mechanical Transmissions and Robotics View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volume 162)

Pages:

224-233

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.162.224

Citation:

Cite this paper

Online since:

March 2012

Authors:

Mario Acevedo, Marco Ceccarelli, Giuseppe Carbone

Keywords:

Counter-Rotary Counterweight, Dynamic Balancing, Dynamic Simulation, Parallel Manipulator

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

© 2012 Trans Tech Publications Ltd. All Rights Reserved

Share:

Citation:

References

[1] G. G. Lowen, F. R. Tepper and R. S. Berkof. Balancing of Linkages - An Update, Mechanism and Machine Theory, 18(3), (1983), 213–220.

DOI: 10.1016/0094-114x(83)90092-7

Google Scholar

[2] V. Arakelian, M. Dahan and M. R. Smith. A Historical Review of the Evolution of the Theory of the Balancing of Machines. Proceedings of the International Symposium on History of Machines and Mechanisms - HMM2000, Cassino, Italy, May 11-13, (2000).

DOI: 10.1007/978-94-015-9554-4_33

Google Scholar

[3] C. Gosselin. Gravity Compensation, Static Balancing and Dynamic Balancing of Parallel Mechanisms. Smart Devices and Machines for Advanced Manufacturing, Wang, Lihui; Xi, Jeff (Eds. ), Springer-Verlag, London, (2008).

DOI: 10.1007/978-1-84800-147-3_2

Google Scholar

[4] P. Merlet. Parallel Robots. Springer, Netherlands, 2 ed., (2010).

Google Scholar

[5] M. Ceccarelli. Fundamentals of Mechanics of Robotic Manipulation, Kluwer Academic Publishers, (2004).

Google Scholar

[6] Y. Wu and C. Gosselin. On the Dynamic Balancing of Multi-DOF Parallel Mechanisms With Multiple Legs. ASME Journal of Mechanical Design, 129(2), (2007), 234–238.

DOI: 10.1115/1.2406093

Google Scholar

[7] M. Ceccarelli. A New 3 D.O.F. Parallel Spatial Mechanism. Mechanism and Machine Theory, (32)8, (1997), 895–902.

DOI: 10.1016/s0094-114x(97)00019-0

Google Scholar

[8] G. Aguirre, M. Acevedo, G. Carbone and E. Ottaviano. Kinemtic and Dynamic Anal-yses of a 3 DOF Parallel Manipulator by Symbolic Formulations. Proceedings of the ECCOMAS Thematic Conference in Multibody Dynamics, Lisbon, Portugal, July 1–4, (2003).

Google Scholar

[9] E. Ottaviano & M. Ceccarelli. An Application of a 3-DOF Parallel Manipulator for Earthquake Simulations. IEEE Transactions on Mechatronics, 11(2), (2006), 240–246.

DOI: 10.1109/tmech.2006.871103

Google Scholar

[10] M. Ceccarelli, E. Ottaviano & G. Carbone, A Study of Feasibility for a Novel Parallel-Serial Manipulator, Fuji International Journal of Robotics and Mechatronics, 14(3), (2002), 304–312.

DOI: 10.20965/jrm.2002.p0304

Google Scholar

[11] N. E. Nava Rodríguez, G. Carbone & M. Ceccarelli. CaPaMan2bis as Trunk Module in CALUMA (CAssino Low-Cost hUMAnoid Robot), 2nd IEEE International Conference on Robotics, Automation and Mechatronics RAM 2006, Bangkok, Thailand, (2006), 347–352.

DOI: 10.1109/ramech.2006.252647

Google Scholar

[12] C. M. Gosselin, F. Vollmer, G. Côté, and Y. Wu, Synthesis and Design of Reactionless Three-Degree-of-Freedom Parallel Mechanisms, IEEE Transactions on Robotics and Automation, 20(2), (2004), 191–199.

DOI: 10.1109/tra.2004.824696

Google Scholar

[13] J. L. Herder and C. M. Gosselin. A Counter-Rotary Counterweight (CRCW) for Light-Weight Dynamic Balancing, Proceedings of the ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Salt Lake City, Utah, USA, September 28-October 2, (2004).

DOI: 10.1115/detc2004-57246

Google Scholar

[14] V. van der Wijk and J. Herder. Synthesis of Dynamically Balanced Mechanisms by Using Counter-Rotary Countermass Balanced Double Pendula. ASME Journal of Mechanical Design, 131(11), (2009).

DOI: 10.1115/1.3179150

Google Scholar