Parameter analysis for the design of statically balanced serial linkages using a stiffness matrix approach with Cartesian coordinates

Just Herder, M.P. Lustig, Gerard Dunning

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

2 Citations (Scopus)
47 Downloads (Pure)

Abstract

A statically balanced system is in equilibrium in every pose. In classical balancing solutions for serial linkages, each DOF is balanced by an independent element. Disadvantages are increased mass and inertia for counter-mass, and auxiliary links for spring solutions. Recent literature presents a method for balancing serial linkages without auxiliary links; using multi-articular springs. This method obtains constraint equations from the stiffness matrix. Downsides are different coordinate systems for describing locations and states, and criteria constraining attachments to fixed lines In the present paper Cartesian coordinates are implemented in the stiffness matrix approach. Goal is comparing the use of this single coordinate system to using multiple, and obtaining increased insight in and providing a visualization of parameter relations. The Cartesian coordinates are implemented, providing a simple, intuitive method for designing statically balanced serial linkages allowing for recognition of the full design space. Obtained parameter relations are visualized in an example.
Original languageEnglish
Title of host publicationProceedings of the 14th IFToMM World Congress
EditorsS.H. Chang
Pages122-129
ISBN (Electronic)978-986-04-6098-8
DOIs
Publication statusPublished - 2015
Event14th IFToMM World Congress - Taipei, Taiwan
Duration: 25 Oct 201530 Oct 2015

Conference

Conference14th IFToMM World Congress
Country/TerritoryTaiwan
CityTaipei
Period25/10/1530/10/15

Keywords

  • Static balance
  • Zero-free-length spring
  • Serial linkage

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