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TECHNICAL BRIEFS

On the Dynamic Balancing of Multi-DOF Parallel Mechanisms With Multiple Legs

[+] Author and Article Information
Yangnian Wu

Département de Génie Mécanique,  Université Laval, Québec, Québec, Canada, G1K 7P4wu@gmc.ulaval.ca

Clément M. Gosselin1

Département de Génie Mécanique,  Université Laval, Québec, Québec, Canada, G1K 7P4gosselin@gmc.ulaval.ca

1

Corresponding author.

J. Mech. Des 129(2), 234-238 (Feb 09, 2006) (5 pages) doi:10.1115/1.2406093 History: Received June 23, 2004; Revised February 09, 2006

This paper addresses the dynamic balancing of multi-degree-of-freedom (multi-DOF) parallel mechanisms with multiple legs using the dynamic equivalence between point masses and arbitrary moving platforms. In this technique, proposed elsewhere, the mass and inertia of the moving platform are dynamically replaced by point masses located at the points of attachment of the legs to the platform and the mechanisms are balanced by considering each of the legs independently. In this paper, two, three, and four point masses are respectively discussed for different cases. Finally, some physical interpretations are given.

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Copyright © 2007 by American Society of Mechanical Engineers
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Figures

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Figure 1

n point masses and a platform

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Figure 2

Two point masses

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Figure 3

Three point masses

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Figure 4

Solutions for y1

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Figure 5

Solutions for m3

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Figure 6

Four point masses for arbitrary platform

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Figure 7

Four point masses for a symmetric platform

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