Title :
Synthesis of new statically balanced parallel mechanisms
Author :
Long Kang ; Jong Tae Seo ; Wheekuk Kim ; Byung-Ju Yi
Author_Institution :
Electron. Syst. Eng. Dept., Hanyang Univ., Ansan, South Korea
Abstract :
In this paper, a method for type synthesis of several new statically balanced parallel manipulators is presented systematically. Firstly, using the concept of constant potential energy, we propose a statically balanced stackable planar mechanism. Secondly, based on the statically balanced stackable planar mechanism, independent statically balanced limb types with certain constraint are designed. Thirdly, combining specific limbs with different wrench system, we synthesize several n-DOF (degree of freedom) parallel mechanisms.
Keywords :
manipulator kinematics; constant potential energy; independent statically balanced limb types; statically balanced parallel manipulators; statically balanced parallel mechanisms; statically balanced stackable planar mechanism; wrench system; Actuators; Gravity; Joints; Manipulators; Potential energy; Vectors; Parallel Mechanism; Static Balancing; Type Synthesis;
Conference_Titel :
Mechatronics and Automation (ICMA), 2014 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4799-3978-7
DOI :
10.1109/ICMA.2014.6885852
