Abstract
The concept of full compensation against the resultant shaking forces and moments for arbitrary robots using a single active dynamic balancing mechanism is first addressed. And the application principle and general balancing conditions of the active dynamic balancing mechanism are presented. With the purpose of providing detailed description of these problems, a compact planar 3-degree-of-freedom active dynamic balancing mechanism is proposed. The active balancer is composed of three independent rotating bars with their respective actuators. The rotations of the three bars could change their center of gravity positions and then generate balancing forces for the unbalanced robots. Moreover, the changing of the angular acceleration of the bars can also generate a dynamic torque to balance the shaking moment. In order to present more detail of the balancing theory, the structure and kinematic and dynamic analysis of the proposed balancing mechanism are given. Finally, numerical examples illustrate the effectiveness of the proposed three-rotating-bar balancer.
Highlights
Vibrations of a robot frame frequently occur when picking and placing payload or replacing various tools during operations, which result in shaking forces and shaking moments
In order to verify the performance of the three-rotating-bar balancer, the application principle, structural design, and kinematic and dynamic analysis are given in this study, and simulations of dynamic balancing with the mechanism are presented to illustrate the implementation and effectiveness of the active dynamic balancing mechanism (ADBM)
This study presents the concept of a 3-DOF balancer which combines two counter masses (CMs) and one counter inertia (CI) for simultaneously force balancing and moment balancing of a planar x-y robot
Summary
Vibrations of a robot frame frequently occur when picking and placing payload or replacing various tools during operations, which result in shaking forces and shaking moments. A robot is dynamically balanced if, for any motions of the robot, all of the resultant inertia forces and resultant moments are equal to zero.[3] To make a robot dynamically balanced, an effective method is to eliminate the source of the vibrations by changing the configuration of the machine. It is usual to use a disk to constitute an active dynamic balancing unit for active balancing of shaking moment in aforementioned methods.[18,20] And the disk is always designed to be with large mass to generate enough moment, resulting in energy consumption. In order to verify the performance of the three-rotating-bar balancer, the application principle, structural design, and kinematic and dynamic analysis are given in this study, and simulations of dynamic balancing with the mechanism are presented to illustrate the implementation and effectiveness of the ADBM.
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