Design of Reactionless Linkages and Robots Equipped with Balancing Assur Groups

Abstract

In the present chapter, we consider the shaking moment and shaking force balancing through the use of additional Assur groups mounted on the mechanism to be balanced. Two types of mechanisms are considered: (1) the in-line four-bar linkage and (2) the planar parallel robots with prismatic pairs. For both types of mechanisms, the proposed solution allows the reduction (or even the cancellation in the case of the four-bar linkage) of the number of counter-rotations used for obtaining the shaking moment balancing, which decreases the design complexity and the inherent problems due to the use of counter-rotations (backlash, noise, vibrations, etc.). All theoretical developments are validated via simulations carried out using ADAMS software. The simulations show that the obtained mechanisms (both in-line four-bar linkages and planar parallel robots) transmit no inertia loads to their surroundings, i.e. the sum of all ground bearing forces and their moments are eliminated.