@inproceedings{9e8047a454f54840a8f85302c008412b,
title = "The Spatial Pantograph and Its Mass Balance",
abstract = "This paper presents the spatial version of the well-known pantograph linkage. While the traditional pantograph is a planar parallelogram linkage with 1 internal degree of freedom (DoF) and four moving links connected with solely revolute pairs, the general spatial pantograph is a linkage with 3 internal DoFs in which the four moving links are connected with spherical joints and two additional out-of-plane links are connected with universal joints. The out-of-plane links constrain the linkage to maintain the essential parallelogram and also constrain all links to move similarly. This is necessary for full controllability and also for inherent force balance, which is obtained for specific conditions on the mass distribution of the links. The force balance conditions are given and also a reduced version of the spatial pantograph linkage with 2 internal DoFs is presented which has five moving links connected with solely universal joints.",
keywords = "Inherent force balance, Pantograph linkage, Spatial kinematics, Static balance",
author = "Wijk, {Volkert van der}",
year = "2022",
doi = "10.1007/978-3-031-08140-8_46",
language = "English",
isbn = "978-3-031-08139-2",
series = "Springer Proceedings in Advanced Robotics",
publisher = "Springer",
pages = "426--433",
editor = "Oscar Altuzarra and Andr{\'e}s Kecskem{\'e}thy",
booktitle = "Advances in Robot Kinematics 2022",
note = "18th International Symposium on Advances in Robot Kinematics, ARK 2022 ; Conference date: 26-06-2022 Through 30-06-2022",
}