Balancing of Linkages and Robot Manipulators: Advanced Methods with Illustrative Examples [Paperback]

In this book advanced balancing methods for planar and spatial linkages, hand operated and automatic robot manipulators are presented. It is organized into three main parts and eight chapters. The main parts are the introduction to balancing, the balancing of linkages and the balancing of robot manipulators. The review of state-of-the-art literature including more than 500 references discloses particularities of shaking force/moment balancing and gravity compensation methods. Then new methods for balancing of linkages are considered. Methods provided in the second part of the book deal with the partial and complete shaking force/moment balancing of various linkages. A new field for balancing methods applications is the design of mechanical systems for fast manipulation. Special attention is given to the shaking force/moment balancing of robot manipulators. Gravity balancing methods are also discussed. The suggested balancing methods are illustrated by numerous examples.

Part I Introduction to balancing.- 1 Introduction.- 2 An overview of balancing methods.- 2.1 Shaking force and shaking moment balancing of linkages.- 2.2 Shaking force and shaking moment balancing of robots and manipulators.- 2.3 Gravity balancing in robotics.- Part II Balancing of Linkages.- 3 Partial shaking force and shaking moment balancing of linkages.- 3.1 Shaking moment minimization of fully force-balanced planar linkages by displacing one counterweight.- 3.2 Shaking moment minimization of fully force-balanced planar linkages by displacing several counterweights.- 3.3 Shaking moment minimization of fully force-balanced spatial linkages.- 3.4 An approximate method of calculating a counterweight for the optimum shaking force and shaking moment balancing of linkages.- 4 Complete shaking force and shaking moment balancing of linkages.- 4.1 Complete shaking force and shaking moment balancing of in-line four-bar linkages by adding a class-two RRR or RRP Assur group.- 4.2 ClC”