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Dynamic Balancing Conditions of Planar Parallel Manipulators

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Recent Advances in Mechanism Design for Robotics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 33))

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Abstract

Force and moment balancing (dynamic balancing) of rigid body linkages with constant mass links is a traditional but still very active area of research in machine dynamics and robotics. The shaking force and the shaking moment caused by all moving links can be reduced in different ways but all having a common difficulty named to derive the so-called balancing conditions, that in general can be cumbersome. In this article a novel method to find the dynamic balancing conditions based on the use of Natural Coordinates is introduced. The method is direct, efficient, and easy to automate through the application of a computer algebra system. It can be used to obtain the shaking force and the shaking moment balancing conditions for planar and spatial mechanisms.

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Author information

Authors and Affiliations

  1. Faculty of Engineering, Universidad Panamericana, Mexico City, Mexico

    Mario Acevedo & José María Reyes

Authors
  1. Mario Acevedo
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  2. José María Reyes
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Corresponding author

Correspondence to Mario Acevedo .

Editor information

Editors and Affiliations

  1. Aalborg University, Aalborg, Denmark

    Shaoping Bai

  2. Laboratory of Robotics & Mechatronics LARM, University of Cassino and South Latium, Cassino, Italy

    Marco Ceccarelli

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Acevedo, M., Reyes, J.M. (2015). Dynamic Balancing Conditions of Planar Parallel Manipulators. In: Bai, S., Ceccarelli, M. (eds) Recent Advances in Mechanism Design for Robotics. Mechanisms and Machine Science, vol 33. Springer, Cham. https://doi.org/10.1007/978-3-319-18126-4_6

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  • DOI: https://doi.org/10.1007/978-3-319-18126-4_6

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-18125-7

  • Online ISBN: 978-3-319-18126-4

  • eBook Packages: EngineeringEngineering (R0)

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