Static balancing of spatial three-degree-of-freedom parallel mechanisms

被引：89

作者：

Wang, JG ^{[1
]}

Gosselin, CM ^{[1
]}

机构：

[1] Univ Laval, Dept Gen Mecan, Ste Foy, PQ G1K 7P4, Canada

来源：

MECHANISM AND MACHINE THEORY | 1999年 / 34卷 / 03期

基金：

加拿大自然科学与工程研究理事会;

关键词：

D O I：

10.1016/S0094-114X(98)00031-7

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The static balancing of spatial three-degree-of-freedom (3-dof) parallel mechanisms or manipulators with revolute actuators using counterweights or springs is studied in this paper. The expressions for the position vector of the center of mass and the total potential energy of the mechanism are first obtained. Then, the kinematic constraint equations of the mechanism are introduced in order to eliminate some of the dependent variables front the expressions. Finally, the conditions for the static balancing of the mechanism are derived from the resulting expressions. Two examples corresponding to the two balancing methodologies are given in order;to illustrate the results. (C) 1998 Elsevier Science Ltd. All rights reserved.

引用

页码：437 / 452

页数：16

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