Advances and Issues on Dynamic Balancing of Parallel Mechanisms

In this paper, recent advances and theories in dynamic balancing of mechanisms and synthesizing of parallel robots by using reactionless mechanisms are discussed in detail. How to design reactionless mechanisms with minimum increase of mass and inertia and synthesize parallel mechanisms based on decomposition and integration concept to improve the overall performance of parallel robots are the main issues that many authors and researchers are facing nowadays. The advances and problems on dynamic balancing of mechanisms will be discussed based on different research families in order to summarize and evaluate recent dynamic balancing methods in order to provide guidelines for the future research direction, and finally new 3DOF planar 3-2RRR and 4-2RRR reactionless parallel manipulators and spatial 3DOF 3-2RRR and 4-2RRR reactionless parallel manipulators are derived.