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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    Title :

    Gravity Balancing of Parallel Robots by Constant-Force Generators


    Additional title:

    Mechan. Machine Science


    Contributors:


    Publication date :

    2022-03-19


    Size :

    45 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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