Abstract
Synthesis of mechanisms with their center of mass (CoM) at an invariant point on one of the elements is useful for the design of statically balanced and shaking-force balanced mechanisms and manipulators. For this purpose, a kinematic architecture based on a general 4R four-bar linkage is found by applying the method of principal vectors as a linkage together with a similar four-bar linkage. The balance conditions are obtained for an arbitrary mass distribution of each of the elements and a balanced grasper mechanism and a balanced two-degree-of-freedom manipulator are derived as practical examples.
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© 2012 Springer Science+Business Media Dordrecht
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van der Wijk, V., Herder, J.L. (2012). Inherently Balanced 4R Four-Bar Based Linkages. In: Lenarcic, J., Husty, M. (eds) Latest Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4620-6_39
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DOI: https://doi.org/10.1007/978-94-007-4620-6_39
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-007-4619-0
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