Skip to main content
SpringerLink
Log in
Book cover

Symposium on Robot Design, Dynamics and Control

ROMANSY21 2016: ROMANSY 21 - Robot Design, Dynamics and Control pp 113–122Cite as

Design of Partially Balanced 5R Planar Manipulators with Reduced Center of Mass Acceleration (RCMA)

  • Conference paper
  • First Online:

Part of the book series: CISM International Centre for Mechanical Sciences ((CISM,volume 569))

Abstract

This paper deals with the shaking force minimization in high-speed 5R planar parallel manipulators via center of mass acceleration control. The trajectories of the total mass center of moving links are defined as straight lines and are parameterized with “bang-bang” profile. Such a motion control allows the reduction of the maximum value of the center of mass acceleration and, consequently, the reduction in the shaking force. The suggested balancing technique is illustrated through computer simulations. The results obtained via ADAMS simulations showed that a reduction in the maximum value of the shaking force of 78 % has been obtained.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   189.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   249.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD   249.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

References

  • Agrawal, S., & Fattah, A. (2004). Reactionless space and ground robots: Novel design and concept studies. Mechanism and Machine Theory, 39(1), 25–40.

    Article  MathSciNet  MATH  Google Scholar 

  • Arakelian, V., & Smith, M. (2008). Design of planar 3-DOF 3-RRR reactionless parallel manipulators. Mechatronics, 18(10), 601–606.

    Article  Google Scholar 

  • Arakelian, V., & Briot, S. (2015). Balancing of linkages and robot manipulators, advanced methods with illustrative examples (p. 291). Switzerland: Springer.

    Google Scholar 

  • Bayer, A., & Merk, G. (2011, August 24). Industrial robot with a weight balancing system. EP Patent 2301727.

    Google Scholar 

  • Briot, S., Arakelian, V., & Le Baron, J.-P. (2012). Shaking force minimization of high-speed robots via center of mass acceleration control. Mechanism and Machine Theory, 57, 1–12.

    Article  Google Scholar 

  • Fattah, A., & Agrawal, S. (2003). Design and modeling of classes of spatial reactionless manipulators. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2003) (pp. 3225–3230). Taipei, Taiwan.

    Google Scholar 

  • Fattah, A., & Agrawal, S. (2005). Design arm simulation of a class of spatial reactionless manipulators. Robotica, 3, 75–81.

    Article  Google Scholar 

  • Filaretov, V., & Vukobratovic, M. (1993). Static balancing and dynamic decoupling of the motion of manipulation robots. Mechanism and Machine Theory, 3(6), 767–783.

    Google Scholar 

  • Herder, J., & van derWijk, V. (2010, May 3). Force balanced Delta robot. NL Patent 2002839.

    Google Scholar 

  • Khalil, W., & Dombre, E. (2002). Modeling, identification and control of robots. London: Hermes Penton.

    Google Scholar 

  • Nenchev, D. N. (2013). Reaction null space of a multibody system with applications in robotics. Mechanical Sciences, 4, 97–112.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Mechanical and Control Systems Engineering, INSA, Rennes, France

    Vigen Arakelian

  2. Robotics Research Group, IRCCyN, Nantes, France

    Vigen Arakelian

Authors
  1. Vigen Arakelian
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Vigen Arakelian .

Editor information

Editors and Affiliations

  1. Dept. of Industrial Engineering, University of Bologna Dept. of Industrial Engineering, Bologna, Italy

    Vincenzo Parenti-Castelli

  2. Inst. für Techn. Num. Mechanik, Universität Stuttgart Inst. für Techn. Num. Mechanik, Stuttgart, Germany

    Werner Schiehlen

Rights and permissions

Reprints and permissions

Copyright information

© 2016 CISM International Centre for Mechanical Sciences

About this paper

Cite this paper

Arakelian, V. (2016). Design of Partially Balanced 5R Planar Manipulators with Reduced Center of Mass Acceleration (RCMA). In: Parenti-Castelli, V., Schiehlen, W. (eds) ROMANSY 21 - Robot Design, Dynamics and Control. ROMANSY21 2016. CISM International Centre for Mechanical Sciences, vol 569. Springer, Cham. https://doi.org/10.1007/978-3-319-33714-2_13

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-33714-2_13

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-33713-5

  • Online ISBN: 978-3-319-33714-2

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation