On the dynamic characteristics of a balance PUMA-760 robot

To reduce complexities in robot dynamics, a mechanical counter-balancing concept based on the theory of adding balancing masses to unbalanced conventional manipulators is introduced. The effects of balancing on the dynamic characteristics of the PUMA-760 robot when the designed counter-balancing mechanism is applied to the robot are examined. Through theoretical and experimental study many distinct advantages such as simplicity in the dynamic equation and significant reduction in the total required input torques are demonstrated for various manipulator speeds and payload conditions. Based on these results, the dynamic characteristics of the balanced PUMA-760 robot are discussed in detail