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Article

Force Balancing of Robotic Mechanisms Based on Adjustment of Kinematic Parameters

[+] Author and Article Information
P. R. Ouyang

Ph.D. Studentpuo545@mail.usask.caProfessorpuo545@mail.usask.caAdvanced Engineering Design Laboratory, Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, SK, S7N 5A9, Canadapuo545@mail.usask.ca

W. J. Zhang1

Ph.D. Studentwjz485@engr.usask.caProfessorwjz485@engr.usask.caAdvanced Engineering Design Laboratory, Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, SK, S7N 5A9, Canadawjz485@engr.usask.ca

1

To whom correspondence should be addressed.

J. Mech. Des 127(3), 433-440 (Jul 23, 2004) (8 pages) doi:10.1115/1.1864116 History: Received April 27, 2003; Revised July 23, 2004

Force balancing is a very important issue in mechanism design and has only recently been introduced to the design of robotic mechanisms. In this paper, a force balancing method called adjusting kinematic parameters (AKP) for robotic mechanisms or real-time controllable (RTC) mechanisms is proposed, as opposed to force balancing methods, e.g., the counterweights (CW) method. Both the working principle of the AKP method and the design equation with which to construct a force balanced mechanism are described in detail. A particular implementation of the AKP method for the RTC mechanisms where two pivots on a link are adjustable is presented. A comparison of the two methods, namely the AKP method and the CW method, is made for two RTC mechanisms with different mass distribution. The joint forces and torques are calculated for the trajectory tracking of the RTC mechanisms. The result shows that the AKP method is consistently better than the CW method in terms of the reduction of the joint forces and the torques in the servomotors, and the smoothing of the fluctuation of the joint force.

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Copyright © 2005 by American Society of Mechanical Engineers
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Figures

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Figure 1

Scheme of a RTC mechanism

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Figure 2

Two-step kinematic parameter adjustment in the AKP method

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Figure 3

The joint forces in two servomotors at low speeds for in-line case

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Figure 4

The joint forces in two servomotors at high speeds for in-line case

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Figure 5

The driving torques to drive two servomotors for in-line case: (a) for low speed and (b) for high speed

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Figure 6

The total forces in two servomotors for the off-line case

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Figure 7

The driving torques in two servomotors for the off-line case

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