Complete shaking force and shaking moment balancing of planar parallel manipulators with prismatic pairs

摘要

This article deals with the complete shaking force and shaking moment balancing of planar parallel manipulators with prismatic pairs. The cancellation of dynamic loads transmitted to the ground is a challenge for these types of manipulators. It is obvious that the classical methods based on the optimal redistribution of movable masses and additional counter-rotations can be used to cancel shaking force and shaking moment. However, balancing of parallel manipulators with prismatic pairs is attained via a considerably complicated design. This article shows that it is possible to balance planar parallel mechanisms by using Scott–Russell mechanisms. Such an approach enables counter-rotations to be divided by 2. Numerical simulations carried out using ADAMS software validate the obtained results and illustrate that the suggested balancing enables to create a parallel manipulator transmitting no inertial load to its base.