Design of a Dynamically Balanced 2-DOF Planar Parallel Manipulator using Four-bar Legs
الموضوعات :Amin Poursafar 1 , Meisam Vahabi 2
1 - Department of Mechanical Engineering,
Dehaghan Branch, Islamic Azad University, Dehaghan, Iran
2 - Department of Mechanical Engineering,
Najafabad Branch, Islamic Azad University, Najafabad, Iran.
Modern manufacturing technologies research center, Najafabad Branch, Islamic Azad University, Najafabad, Iran
الکلمات المفتاحية: Dynamic balance, 2 Degree of freedom mechanism, Manipulator, ADAMS,
ملخص المقالة :
A mechanism is reactionless or dynamically balanced when there is no shaking force and shaking moment applied to the base during mechanism movement. The theory for designing reactionless 2 degree-of-freedom (DOF) planar parallel manipulator is discussed in this paper. The legs of the manipulator are four-bar 2-DOF mechanisms with revolute joints. The dynamic balancing conditions of the manipulator are derived, considering that the time rate of the total linear and angular momentum have to be vanished. The dynamic balancing equations first are obtained and illustrated through a numerical example and finally verified by computer simulation using ADAMS software.
[1] Bonev, I. A., “Geometric Analysis of Parallel Mechanisms”, PhD. dissertation, Laval University, Quebec, Canada, 2002.
[2] Kong, X. W., “Type Synthesis and Kinematics Analytic and General Parallel Mechanisms”, PhD. dissertation, Laval University, Quebec, Canada, 2000.
[3] Baige-valentin, I. J., “Dynamic Modeling of Parallel Manipulators”, PhD. dissertation, University of Florida, Florida. USA, 1995.
[4] Wang, J., “Kinematic Analysis, Dynamic Analysis and Static Balancing of Planar and Spatial Parallel Mechanisms or Manipulators with Revolute Actuators”, PhD. dissertation, Laval University, Quebec, Canada, 1997.
[5] Wu, Y., “Synthesis and Analysis of Reactionless Spatial Parallel Mechanisms”, PhD. dissertation, Laval University. Quebec, Canada, 2003.
[6] Ricard, R., Gosselin, C. M., “On the Development of Reactionless Parallel Manipulators”, Proceedings ofASME Design Engineering Technical Conference, Depth of mechanical engineers, Balitimore, 2000, pp. 10–13
[7] Laliberte T., Gosselin, C. M., and Jean, M., “Static Balancing of 3-DOF Planar Parallel Mechanismsˮ, IEEE/ASME Transactions on Mechatronics, 1999, pp. 363-377.
[8] Herder, J. L., “Development of a Statically Balanced Arm Support: ARMON”, proceeding of the 9th International Rehabilitation Robotics Conference., Depth of mechanical engineering, Chicago, 2005.pp 10-16.
[9] Schenk, M., Herder, J. L., Guest, S. D, “Design of Statically Balanced Tensgirity Mechanism”, proceeding of. ASME International Design Engineering Technical & Computers and Information in Engineering Conference, IDETC/CIE, 2006, pp. 100-115.
[10] Xi, F., “Dynamic Balancing of Hexapods for High-speed Applications”, Journal of Robotica, 1999, pp. 335-342,
[11] Alici, G., Shirinzadeh, B., “Optimization Dynamic Balancing of Planar Parallel Manipulators Based on Sensitivity Analysis”, Mechanism and Machine Theory, Vol. 41, July 2006, pp. 1520-1532.
[12] Wu, Y., Gosselin, C. M., “Synthesis of Reactionless Spatial 3-DOF and 2-DOF Mechanisms without Separate Counter-rotations”, International Journal of Robotic Research, Vol. 23, July 2004, pp. 625-642.
[13] Wu, Y., Gosselin, C. M., “Design of Reactionless 3-DOF and 2-DOF Parallel Manipulators using Parallelepiped Mechanisms”, proceedings of the IEEE Transaction on Robotics Conference, IDETC/CIE, 2005, pp. 340-349
[14] Fattah, A., Agrawal, S. K., “On the Design of Reactionless 3-DOF Planar Parallel Mechanisms”, Journal of Mechanism and Machine Theory, Vol. 41, 2006, pp. 70-82.
[15] Atia, K. R., Cartmell, M. P., “General Dynamic Model for a Large-scale 2-DOF Planar Parallel Manipulator”, Journal of Robotica, Vol. 17, 1999, pp. 675-683.
[16] Alici, G., Shirinzadeh, B., “Optimum Synthesis of Planar Parallel Manipulators Based on Kinematic Isotropy and Force Balancing”, Journal of Robotica, Vol. 22, 2004, pp. 97-108.
[17] Tahmasebi, F., “Kinematics of a New High-precision Three-degree-of-freedom Parallel Manipulator”, Journal of Mechanical Design,Vol. 129, 2005, pp. 320-325.
[18] Uphoff, I. E., Johnson, K., “Practical Considerations for the Static Balancing of Mechanisms of Parallel Architecture”, Journal of Multi-body Dynamics, Vol. 126, 2002, pp. 73-85.
[19] Arakelia, V. H., Smith, M. R., “Complete Shaking Force and Shaking Moment Balancing of Linkages”, Mechanism and Machine Theory, Vol. 34/8, 1999, pp. 1141-1153.
[20] Esat, I., Bahai, H., “A Theory of Complete Force and Moment Balancing of Planar Linkage Mechanism”, Mechanism and Machine Theory,Vol. 34/6, 1999, pp. 903-922.
[21] Kochev, I. S., “General Theory of Complete Shaking Moment Balancing of Planar Linkages: a Critical Review”, Mechanism and Machine Theory, Vol. 35/11, 2000, pp. 1501-1514.
[22] Bagci, C., “Complete Shaking Force and Shaking Moment Balancing of Link Mechanisms using Balancing Idler Loop”, Journal of Mechanical Design Transactions of the ASME,Vol. 104, 1982, pp. 482-493.
[23] Wu, J., Gao, Y., Zhang, B., and Wang, L., “Workspace and Dynamic Performance Evaluation of the Parallel Manipulators in a Spray-painting Equipment”, Robotics and Computer-Integrated Manufacturing, Vol. 44, 2017, pp. 199-207.
[24] Liu, X. J., Li, J., and Zhou, Y., “Kinematic Optimal Design of a 2-degree-of-freedom 3-parallelogram Planar Parallel Manipulator”, Mechanism and Machine Theory, Vol. 87, 2015, pp. 1-17.
