Partial Shaking Moment Balancing of Spherical Parallel Robots by a Combined Counterweight and Adjusting Kinematic Parameters Approach

Partial Shaking Moment Balancing of Spherical Parallel Robots by a Combined Counterweight and Adjusting Kinematic Parameters Approach

Spherical parallel robots (SPR) are widely used in industries and robotic rehabilitation. Designing such systems for better balance properties is still a challenge. This paper presents a work to minimize the shaking moment for a fully force-balanced SPR by combining the counterweight (CW) and adjust...

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Bibliographic Details
Main Authors: Hongfei Yu, Zhiqin Qian, Anil Borugadda, Wei Sun, Wenjun Zhang
Format: Article
Language:English
Published: MDPI AG 2022-03-01
Series:Machines
Subjects:
spherical parallel robot
adjusting kinematic parameters
shaking force
shaking moment
balancing
Online Access:https://www.mdpi.com/2075-1702/10/3/216

Internet

https://www.mdpi.com/2075-1702/10/3/216

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