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TECHNICAL PAPERS

Synthesis, Design, and Prototyping of a Planar Three Degree-of-Freedom Reactionless Parallel Mechanism

[+] Author and Article Information
Simon Foucault, Clément M. Gosselin

Département de Génie Mécanique, Université Laval, Québec, PQ G1K 7P4, Canada

J. Mech. Des 126(6), 992-999 (Feb 14, 2005) (8 pages) doi:10.1115/1.1798211 History: Received November 13, 2003; Revised February 22, 2004; Online February 14, 2005
Copyright © 2004 by ASME
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References

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Berkof,  R. S., and Lowen,  G. G., 1971, “Theory of Shaking Moment Optimization of Force-Balanced Four-Bar Linkages,” ASME J. Eng. Ind., 93, pp. 53–60.
Bagci,  C., 1982, “Complete Shaking Force and Shaking Moment Balancing of Link Mechanisms Using Balancing Idler Loops,” ASME J. Mech. Des., 104, pp. 482–493.
Bagci, C., 1992, “Complete Balancing of Linkage Using Complete Dynamical Equivalents of Floating Links: CDEL Method,” in DE Flexible Mechanisms, Dynamics and Analysis, 22nd Biennial Mechanisms Conference, Vol. 47, pp. 477–488.
Berkof,  R. S., 1973, “Complete Force and Moment Balancing of Inline Four-Bar Linkages,” Mech. Mach. Theory, 8, pp. 397–410.
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Abu-Abed, A., and Papadopoulos, E., 1994, “Design and Motion Planning for a Zero-Reaction Manipulator,” IEEE International Conference on Robotics and Automation, San Diego, CA, pp. 1554–1559.
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Yu,  Y.-Q., and Lin,  J., 2003, “Active Balancing of a Flexible Linkage With Redundant Drives,” ASME J. Mech. Des., 125, pp. 119–123.
Ricard, R., and Gosselin, C. M., 2000, “On the Development of Reactionless Parallel Manipulators,” Proceedings of the ASME 26th Biennial Mechanisms and Robotics Conference, Baltimore, MA, No. MECH-14098, September.
McCarthy, J. M., 1990, Introduction to Theoretical Kinematics, MIT Press, Cambridge, MA, pp. 67–73.
Ricard,  R., 1999, “Dynamic Compensation Applied to Five-Bar Mechanism,” Technical report, Université Laval, Québec, Canada.
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Figures

Grahic Jump Location
Parallelogram five-bar linkage
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Proposed three degree-of-freedom parallel mechanism
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Equivalence between the platform and two point masses
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Position of the counterweight in (a) the first case and (b) the second case
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Simulation results: (a) actuating torques (b) sum of forces and moments at the base

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