This Chapter reviews the literature on gravity balancing for parallel robots by using so-called constant-force generators. Parallel robots are formed by several kinematic chains connecting, in parallel, a fixed base to a moving end-effector. A constant-force generator is a mechanism that is able to exert, at a given point, a force having constant magnitude and direction. Gravity balancing of serial robots is a well established technique; conversely, application in parallel robotics is controversial. Indeed, the addition of gravity-balancing mechanisms to a parallel robot may worsen its dynamic behavior, as shown in some referenced works. In this Chapter, we introduce a taxonomy of constant-force generators proposed so far in the literature, including mass and spring balancing methods, toghether with more niche concepts. We also summarize design considerations of practical concern.


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    Titel :

    Gravity Balancing of Parallel Robots by Constant-Force Generators


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Arakelian, Vigen (Herausgeber:in) / Mottola, Giovanni (Autor:in) / Cocconcelli, Marco (Autor:in) / Rubini, Riccardo (Autor:in) / Carricato, Marco (Autor:in)

    Erschienen in:

    Gravity Compensation in Robotics ; Kapitel : 9 ; 229-273


    Erscheinungsdatum :

    2022-03-19


    Format / Umfang :

    45 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch






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