Abstract
Gravity compensation of a 6-UPS parallel kinematics machine tool through elastically balanced constant-force generators
Highlights
A mechanism is said to be statically balanced if its total potential energy is invariant for any admissible pose
Gravity compensation through passive devices is a common practice for heavy-duty serial manipulators [1,2,3,4], since it brings essential benefits, namely lower motor loads, enhanced energy efficiency, reduced vibrational levels [5], quality precision in manufacturing [6, 7], improved safety and productivity [8]
The study deals with static balancing of parallel robots, achieved by making the legs operate as constantforce generators (CFGs), a concept developed in [9, 22, 27]
Summary
A mechanism is said to be statically balanced (or gravity compensated) if its total potential energy is invariant for any admissible pose. Gravity compensation through passive (i.e. not actuated) devices is a common practice for heavy-duty serial manipulators [1,2,3,4], since it brings essential benefits, namely lower motor loads, enhanced energy efficiency, reduced vibrational levels [5], quality precision in manufacturing [6, 7], improved safety and productivity [8]. The study deals with static balancing of parallel robots, achieved by making the legs operate as constantforce generators (CFGs), a concept developed in [9, 22, 27]. By following this strategy, a set of leg-exerted constant forces that realizes the neutral equilibrium of the moving platform is firstly determined.
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