Table Of ContentDan Zhang · Bin Wei Editors
Dynamic
Balancing of
Mechanisms and
Synthesizing of
Parallel Robots
Dynamic Balancing of Mechanisms
and Synthesizing of Parallel Robots
Dan Zhang • Bin Wei
Editors
Dynamic Balancing
of Mechanisms
and Synthesizing
of Parallel Robots
123
Editors
DanZhang BinWei
UniversityofOntarioInstitute UniversityofOntarioInstitute
ofTechnology ofTechnology
Oshawa,ON,Canada Oshawa,ON,Canada
ISBN978-3-319-17682-6 ISBN978-3-319-17683-3 (eBook)
DOI10.1007/978-3-319-17683-3
LibraryofCongressControlNumber:2015947930
SpringerChamHeidelbergNewYorkDordrechtLondon
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Preface
Astheemergingtechnologiesofrobotics,dynamicbalancingformechanismsand
parallel robots has become one of the bottleneck issues for the applications in
modern manufacturing industries, space, medical industries, military, and social
service. Research and developmentof variousdynamicbalancingmethodsis now
being performedmoreand moreactively in everyapplicable field. This bookwill
introducestate-of-the-artresearchinthesetechnologiesfromtheorytopracticeina
systematicandcomprehensiveway.
Anyvibrationsinmechanismswillcauseinaccuracywhiletheyareinoperations.
Traditionalcounterbalancemethodsmake the whole mechanism heavier and have
moreinertia;thebookentitledDynamicBalancingofMechanismsandSynthesizing
ofParallelRobotswill be thefirst bookthatdescribestheup-to-datetechnologies
in dynamic balancing of mechanisms and parallel robots. It systematically and
thoroughly not only deals with different dynamic balancing principles but also
comprises recent advances on dynamic balancing of mechanisms with minimum
increaseofmassandinertia,synthesizingofparallelrobotsbasedondecomposition
and integration concept, and finally optimization and control issues for balancing
arediscussedatlengthwithinthisbook.
We would like to express our deep appreciation to all the authors for their
significantcontributionstothebook.Theircommitment,enthusiasm,andtechnical
expertise are what made this book possible. We are also grateful to the publisher
for supporting this project and would especially like to thank Ms. Merry Stuber,
EditorialAssistantofSpringerUS,andMs.LesleyPoliner,SpringerUSScienceand
Business Media Project Coordinator, for their constructive assistance and earnest
cooperation, both with the publishing venture in general and the editorial details.
Wehopethereadersfindthisbookinformativeanduseful.
Thisbookconsistsof20chapters.Chapter1 introducestherecentadvanceson
reactionless mechanisms and parallel robots, and the dynamic balancing through
reconfigurationconceptisproposed.Chapter2presentsmethodsandprinciplesused
v
vi Preface
forbalancingof planarmechanismswithoutcounterrotations.Chapter3 considers
the shaking moment and shaking force balancing through the use of additional
Assurgroupsmountedonthemechanismtobebalanced.Twotypesofmechanisms
are considered, the in-line four-bar linkage and the planar parallel robots with
prismaticpairs.Chapter4discussesthedevelopmentofreactionlessplanarparallel
manipulatorsbyusingbase-mountedcounterrotationsandinertiaflywheelrotating
with a prescribed angular velocity. Chapter 5 introduces a new general method
to find the dynamic balancing conditions based on the use of natural coordinates
for planar mechanisms, and the method has been shown in its application to the
design and dynamic balancing of plane mechanisms. Chapter 6 deals with the
shaking force and shaking moment balancing of single degree of freedom planar
mechanismsby employingthe traditionaltechniqueof additionof counterweights
and counterrotating inertias. Chapter 7 proposes a force balancing method called
adjusting kinematic parameters for robotic mechanisms or real-time controllable
mechanisms. Chapter 8 proposes a formulation, which can be seen as a tool in
selectingappropriatesolution(s)accordingtotheexpectedoperationconditions,to
address the effects of balancing on mass distributions and dynamic performance.
A case of study has been developed by referring to a three degrees-of-freedom
spatial parallel manipulator by designing proper counter-rotary counterweights.
Chapter 9 focuses on dynamic balancing with respect to a given trajectory for
the parallel link robots by modeling control system. Chapter 10 addresses the
class of problems that require movement of a dynamic bipedal system according
to stringent state-space and temporal requirements despite actuation limits and
disturbances.Chapter11presentsanoptimizationtechniquetodynamicallybalance
planarmechanismsbyminimizingtheshakingforcesandshakingmomentsdueto
inertia-inducedforces.Chapter12investigatesthedynamicresponseofmechanism
having revolute joints with clearance, and a 4R four-bar mechanism whose two
jointshaveclearancesisconsideredasamodelmechanism.Chapter13minimizes
theshakingforceandmomentfluctuationsattheplanarmechanismbyemploying
the genetic algorithm. Chapter 14 presents the optimal balancing for the open-
chain robotic system based on the indirect solution of open-loop optimal control
problem. Chapter 15 studies the dynamics and control of planar, translation, and
spherical parallel manipulators by means of the constraint equations. Chapter 16
deals with the dynamic modeling and control of balanced parallel mechanisms,
highlights the importance of the dynamic modeling process, and discusses the
impactofthe dynamicmodel,developedin accordancewith the methodology,for
thecontrolstrategyofparallelmechanisms.Chapter17describesthecontrolprin-
ciplesnecessaryforanarticulatedbipedmodeltoaccomplishbalancedlocomotion
duringwalkingandclimbing.Chapter18focusesonthecontrolofa10-dofbiped
robot,andaspline-basedcontrolsystemisdescribedinordertogeneratetheservo
inputs.Chapter19dealswithanapproachtoformulatebalancingconditionsforthe
Preface vii
shakingforceandshakingmomentofplanarmechanismsandspatialmechanisms.
Chapter 20 addresses the static balancing of six degree-of-freedom articulated
wheeledvehicleswithmultipleleg-wheelsubsystem.
Finally, the editors would like to sincerely acknowledge all the friends and
colleagueswhohavecontributedtothisbook.
Oshawa,ON,Canada DanZhang
December2014 BinWei
Contents
1 ReviewofRecentAdvancesonReactionlessMechanisms
andParallelRobots......................................................... 1
DanZhangandBinWei
2 DesignofReactionlessMechanismsWithoutCounter-rotations...... 21
VlastimilVotrubec
3 DesignofReactionlessLinkagesandRobotsEquipped
withBalancingAssurGroups............................................. 33
SébastienBriotandVigenArakelian
4 Designof ReactionlessPlanar ParallelManipulators
withInertiaFlywheelorwithBase-MountedCounter-rotations...... 69
VigenArakelian
5 DesignofReactionlessMechanismswithCounter-Rotary
Counter-Masses............................................................. 83
MarioAcevedo
6 Shaking Force and Shaking Moment Balancing
ofSix-andEight-BarPlanarMechanisms .............................. 113
PeddintiNehemiah
7 Synthesizing of Parallel Robots Using Adjusting
KinematicParametersMethod ........................................... 143
P.R.Ouyang,W.J.Zhang,andJ.Huang
8 Balancingofa3-DOFsParallelManipulator ........................... 173
D.Cafolla,G.Carbone,andM.Ceccarelli
9 DynamicBalancingwithRespecttoaGivenTrajectory............... 193
TaizoYoshikawa
ix
