Balancing of Linkages and Robot Manipulators

Advanced Methods with Illustrative Examples

  • Vigen Arakelian
  • Sébastien Briot

Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 27)

Table of contents

  1. Front Matter
    Pages i-xvi
  2. Introduction to Balancing

    1. Front Matter
      Pages 1-1
    2. Vigen Arakelian, Sébastien Briot
      Pages 3-5
    3. Vigen Arakelian, Sébastien Briot
      Pages 7-51
  3. Balancing of Linkages

    1. Front Matter
      Pages 53-53
    2. Vigen Arakelian, Sébastien Briot
      Pages 55-76
    3. Vigen Arakelian, Sébastien Briot
      Pages 77-116
    4. Vigen Arakelian, Sébastien Briot
      Pages 117-144
  4. Balancing of Robot Manipulators

    1. Front Matter
      Pages 145-145
    2. Vigen Arakelian, Sébastien Briot
      Pages 189-239
    3. Vigen Arakelian, Sébastien Briot
      Pages 241-269
  5. Back Matter
    Pages 271-291

About this book


In this book advanced balancing methods for planar and spatial linkages, hand operated and automatic robot manipulators are presented. It is organized into three main parts and eight chapters. The main parts are the introduction to balancing, the balancing of linkages and the balancing of robot manipulators. The review of state-of-the-art literature including more than 500 references discloses particularities of shaking force/moment balancing and gravity compensation methods. Then new methods for balancing of linkages are considered. Methods provided in the second part of the book deal with the partial and complete shaking force/moment balancing of various linkages. A new field for balancing methods applications is the design of mechanical systems for fast manipulation. Special attention is given to the shaking force/moment balancing of robot manipulators. Gravity balancing methods are also discussed. The suggested balancing methods are illustrated by numerous examples.


Gravity Balancing Mechanism Design Robot Manipulator Shaking Force Balancing Shaking Moment Balancing

Authors and affiliations

  • Vigen Arakelian
    • 1
  • Sébastien Briot
    • 2
  1. 1.Institut National des Sciences Appliquées (INSA), Rennes, France, and Institut de Recherche en Communications et Cybernétique de Nantes (IRCCyN), Nantes, FranceRennesFrance
  2. 2.Institut de Recherche en Com. et Cybernétique de NantesCNRSNantesFrance

Bibliographic information

  • DOI
  • Copyright Information Springer International Publishing Switzerland 2015
  • Publisher Name Springer, Cham
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-319-12489-6
  • Online ISBN 978-3-319-12490-2
  • Series Print ISSN 2211-0984
  • Series Online ISSN 2211-0992
  • Buy this book on publisher's site
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