Abstract
The compensation of gravity loads can represent a convenient strategy to enhance the operation of manipulators with heavy end-effector/moving platform and/or moderate velocities/accelerations, particularly in terms of energy efficiency. This work deals with the static balancing of a 5-DOF manipulator characterized by a serial/parallel hybrid architecture. Approximate gravity compensation of the parallel mechanism is achieved by means of an auxiliary leg comprising four tension springs. Numerical multibody models of the studied manipulator and of its balanced variant are implemented and simulated by using a commercial software package (MSC Adams™). The simulation results confirm the effectiveness of the proposed balancing solution, with the residual motor loads required for the static equilibrium of the balanced variant not exceeding 5% of the motor loads characterizing the unbalanced mechanism, in terms of both peak and rms values.
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Martini, A. (2020). Static Balancing of an Exechon-Like Parallel Mechanism. In: Carcaterra, A., Paolone, A., Graziani, G. (eds) Proceedings of XXIV AIMETA Conference 2019. AIMETA 2019. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-030-41057-5_26
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DOI: https://doi.org/10.1007/978-3-030-41057-5_26
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