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Method and device for weight compensation in a mechanism with closed kinematic chains
Method and device for weight compensation in a mechanism with closed kinematic chains
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机译:运动链闭合机构中的重量补偿方法和装置
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摘要
The aim of the invention is to compensate for the position-dependent length changes caused by the effect of weight in a variety of closed kinematic chains (K1 . . . Kn), for connecting a stationary first element (E1) to a movable second element (E2). Said aim is achieved, by using a back transformation (&Lgr;−1), which determines a compensation value for each length change (dq1, dq2 . . . dqn), resulting from the application of the weight (Fg) impinging on the movable element (E2) in each kinematic chain.
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