Complete shaking force and shaking moment balancing of the position-orientation decoupled PAMINSA manipulator

This paper deals with the complete shaking force and shaking moment balancing of the position orientation decoupled PAMINSA manipulator. The dynamic reaction forces on the manipulator´s base are eliminated by making the total mass center of the moving links stationary. The reaction moments on the frame are eliminated by optimal control of the end-effector, which rotates with prescribed velocity. The numerical simulations carried out using ADAMS software demonstrate that the balanced manipulators transmit no inertia loads to their bases.