Inherently Balanced Spherical Pantograph Mechanisms

Killian T.Y. Durieux, V. van der Wijk*

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Abstract

This paper investigates the possibilities for designing shaking force balanced spherical pantograph mechanisms. Three different spherical designs are presented, which are a balanced general spherical pantograph, a balanced double spherical pantograph and a double S-shaped mechanism with surrounding 4R four-bar linkage. Also variations of the balanced designs are presented. As compared to the planar balanced pantograph, the same underlying system of principal vectors exists, of which the geometries can be visualized in the orthogonal planes. The feasible variations of link lengths for which force balance is maintained are discussed.

Original languageEnglish
Title of host publicationAdvances in Robot Kinematics 2024
Subtitle of host publicationConference proceedings
EditorsJadran Lenarčič, Manfred Husty
PublisherSpringer
Pages105-112
Number of pages8
ISBN (Electronic)978-3-031-64057-5
ISBN (Print)978-3-031-64379-8
DOIs
Publication statusPublished - 2024
Event19th Symposium on Advances in Robot Kinematics, ARK 2024 - Ljubljana, Slovenia
Duration: 30 Jun 20244 Jul 2024

Publication series

NameSpringer Proceedings in Advanced Robotics
Volume31 SPAR
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264

Conference

Conference19th Symposium on Advances in Robot Kinematics, ARK 2024
Country/TerritorySlovenia
CityLjubljana
Period30/06/244/07/24

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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