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Static balancing of a spatial six-degree-of-freedom decoupling parallel mechanism

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Abstract

The static balancing of a spatial 6-degree-of-freedom (6-DoF) decoupling parallel mechanism is discussed in this paper. Two traditional approaches (using counterweights and the springs) are used to statically balance the mechanism. Due to the existence of their shortcomings, a hybrid approach is proposed based on the static balancing of the mechanism. The main feature of this mechanism is that the 3-DoF rotating part can be static balancing itself, which means that its mass has no effect on the gravity balancing of the system, for any configuration of the mechanism, so the rotating part can be considered as a whole and the calculation is simplified. Finally, examples and dynamic analysis corresponding to the three balancing methods are given to illustrate the results.

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Authors and Affiliations

  1. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, 200240, China

    Taoran Liu, Feng Gao, Xianchao Zhao & Chenkun Qi

Authors
  1. Taoran Liu
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  2. Feng Gao
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  3. Xianchao Zhao
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  4. Chenkun Qi
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Corresponding author

Correspondence to Feng Gao.

Additional information

Recommended by Associate Editor Ki-Hoon Shin

Taoran Liu is currently a Ph.D. candidate in School of Mechanical Engineering, Shanghai Jiao Tong University, China. Her main research interests include parallel kinematic mechanism and applications, design and control of force feedback device.

Feng Gao is currently a full professor in Shanghai Jiao Tong University, China. He received his Ph.D. from Beijing University of Aeronautics and Astronautics, China, in 1991. His research interests include parallel robotics and applications. He patented more than 30 inventions and published around 160 papers.

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Liu, T., Gao, F., Zhao, X. et al. Static balancing of a spatial six-degree-of-freedom decoupling parallel mechanism. J Mech Sci Technol 28, 191–199 (2014). https://doi.org/10.1007/s12206-013-1104-9

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  • DOI: https://doi.org/10.1007/s12206-013-1104-9

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