DocumentCode
1792123
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
fYear
2014
fDate
3-6 Aug. 2014
Firstpage
1102
Lastpage
1107
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation (ICMA), 2014 IEEE International Conference on
Conference_Location
Tianjin
Print_ISBN
978-1-4799-3978-7
Type
conf
DOI
10.1109/ICMA.2014.6885852
Filename
6885852
Link To Document