Dynamics Analysis of A Three-DOF Planar Serial-Parallel Mechanism For Active Dynamic Balancing With Respect To A Given Trajectory

ARTICLE
International Journal of Advanced Robotic Systems
Dynamics Analysis of a Three-DOF Planar

Serial-Parallel Mechanism for Active
Dynamic Balancing with Respect to
a Given Trajectory
Regular Paper
Kun Wang1,2,3, Minzhou Luo1,3,*, Tao Mei1,2,3, Jianghai Zhao3 and Yi Cao4
1 School of Information Science and Technology, University of Science and Technology of China, Hefei, Anhui Province, China
2 Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, Anhui Province, China
3 Institute of Advanced Manufacturing Technology, Hefei Institute of Physical Science, Chinese Academy of Sciences, Changzhou, Jiangsu
Province, China
4 School of Mechanical Engineering, Jiangnan University, Wuxi, Jiangsu Province, China
* Corresponding author E-mail: lmz@iim.ac.cn

Received 7 May 2012; Accepted 9 Oct 2012
DOI: 10.5772/54201
© 2013 Wang et al.; licensee InTech. This is an open access article distributed under the terms of the Creative
Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use,
distribution, and reproduction in any medium, provided the original work is properly cited.
Abstract The concept of dynamic balancing with respect Keywords Active Dynamic Balancing, Trajectory‐based
to a given trajectory is proposed in this paper. Trajectory‐ Dynamic Balancing, Planar Parallel Mechanism, Hybrid
based dynamic balancing is a technique that brings Mechanism
additional mechanisms to unbalanced mechanisms with
the purpose of actuating the original mechanism to move
along a predefined trajectory, regardless of the shaking 1. Introduction
forces and moments. In this work, a planar three degrees
of freedom (3‐DOF) serial‐parallel mechanism is In engineering practices, the actuation forces and
proposed to implement this technique on an unbalanced moments of machines are prone to be influenced by the
platform. The overall structure of the system is firstly shaking forces and shaking moments, resulting in
introduced and the mechanical design and kinematics of perturbations of the motions of the moving parts.
the proposed mechanism is then presented. The dynamic Furthermore, shaking forces and moments also cause
model of the mechanism and the platform is derived and fatigue, vibrations, noise disturbances, etc., thus
analysed. Finally, numerical examples are presented to undermining the control precision [1]. Therefore, many
verify the effectiveness of the active dynamic balancing balancing mechanisms with low additions of mass, inertia
mechanism and the improved dynamic performance of and complexity have been proposed to counterbalance
the system. the shaking forces and moments [2‐9].
www.intechopen.com Int JDynamics

Kun Wang, Minzhou Luo, Tao Mei, Jianghai Zhao and Yi Cao: Adv Robotic Sy, 2013,
Analysis Vol. 10, 23:2013
of a Three-DOF Planar 1
Serial-Parallel Mechanism for Active Dynamic Balancing with Respect to a Given Trajectory
A mechanism is said to be dynamic balanced if, for any Therefore, an active dynamic balancing mechanism
motions of the mechanism, the summation of all dynamic (ADBM) can be designed to produce adequate forces and
reaction forces (the shaking forces) and the summation of moments which counteract the adverse effects of the net
all dynamic reaction moments (the shaking moments) are shaking forces and moments, and meanwhile actuate the
zero. Equivalently, its linear momentum and angular platform to track a predefined dynamic trajectory. This
momentum are constants at any instant [10]. Dynamic new concept could be termed as the dynamic balancing with
balancing usually renders a robotic mechanism many respect to a given trajectory. Compared with the traditional
advantages such as reduced wear, improved accuracy concept of dynamic balancing with respect to
and so on. Intuitively, there are two ways for dynamic equilibrium, the overall reaction forces or moments are
balancing: passive and active. Passive balancing is not necessarily zero and the ADBM functions as both the
completely determined by the mechanical design and no balancer and the controller.
computer control is involved, while the active balancing
utilizes a controlled system to coordinate the motions of In this paper, a 3‐DOF serial‐parallel mechanism with
the balancing elements. Compared with passive dynamic
simple structure and control, and low moving inertia is
balancing, the major advantage of active balancing lies in
proposed as a case study on the ADBM with respect to a
its adaptability. That is, with appropriate control
trajectory. The paper is organized as follows: the overall
schemes, it is possible to deal with changes of the mass
configuration of the mechanism is presented firstly and
and inertia parameters. Such cases might happen when
followed by the modelling of the ADBM. Using inverse
the payloads or tools are variable.
dynamics, all actuation and reaction forces and

moments of the ADBM are calculated based on the
Active dynamic balancing has been studied for two
Newton‐Euler approach. Finally, numerical examples
decades [11‐14]. Additional links, gears, dyads or more
complex devices have been used for the balancing task are presented to validate the effectiveness of the
[15]. In 1986, Z. Huang and Z.D. Shi showed that the mechanism under study.
shaking moment and torque can be simultaneously
2. Motivation and Concept of the 3‐DOF ADBM
eliminated by an active control of a mechanism which
consists of three balancing discs [16]. On this basis, in In this paper, the platform is assumed to be a planar
1992 Konchev arrived at a new concept of elimination of mechanism with 3‐DOF. Correspondingly, two
overall reaction moment with an actively driven single independent shaking forces (along the x‐ and y‐ axes) and
balancer [17]. In 1995, Thuemmel presented an active one independent shaking moment with the direction
control with redundant drives for the implication to perpendicular to the plane exist. Therefore, the ADBM
moment balancing [18]. A complex active dynamic must also be designed to be of 3‐DOF.
balancer was mentioned by Tarcisio in 2004 [19]. It was

composed of two individual movable controllable
Considering the prerequisite that the directions of
compensation inertias and one rotor connected with two
balancing forces and moments should be consistent with
other compensation inertias on a two degrees of freedom
the shaking forces and moments, the ADBM is thus
(2‐DOF) planar mechanism. In recent years, Volkert van
designed with a planar configuration, and it is installed
Wjik and Herder designed an active dynamic balancing
such that its xy‐plane is parallel to the moving plane of
unit which was applied to an XY‐robot [20]. Counter‐
the platform. For convenience of analysis, it is assumed
rotary counterweights were used for dynamic balancing
that the ADBM can be mounted on the platform at any
of the spatial parallel manipulator CaPaMan‐2 [21]. The
balancing unit was composed of a rotating disc, which location and at any orientation.
was referred to as the counter‐rotary counter‐mass.
Meanwhile, an active controlled disk with bevel gears The concept of the ADBM is demonstrated in Figure 1.
and ball screw was implemented for actively balancing The mechanical system consists of the platform with
the mechanical vibrations in rotor‐bearing systems as unbalanced rotating elements (represented together as
mentioned in [22]. the red box) and the ADBM mounted on the platform
(represented as the blue box). The shaking forces and
All the aforementioned active dynamic balancers were shaking moments are generated by the unbalanced
designed to maintain the machine in a steady state at all rotating elements of the platform. The summation of all
times, so it can be addressed as the dynamic balancing with these shaking forces and moments results in the net
respect to equilibrium. However, from a more general and shaking forces and moments as indicated by the green
broader point of view, since the balancing mechanism can arrows. Through dynamic coupling effects, the ADBM is
generate forces and moments, it can potentially be able to apply forces and moments (blue arrows) back to
exploited, through appropriate design, not only to the platform, thus balancing the net shaking forces and
balance the resultant forces and moments, but also to moments, and simultaneously actuating the platform to
control certain motions of the overall mechanism. move along a trajectory.
2 Int J Adv Robotic Sy, 2013, Vol. 10, 23:2013 www.intechopen.com

PRR mechanism functions as the positioner of the disc. It
consists of two inextensible limbs, AiBi for i=2 and 3. One
end of each limb is connected to the disc by a revolute
joint, while the other end is connected to the platform by
a prismatic joint. Using the two prismatic joints as the
input links, the CRCM can be positioned anywhere
within its workspace in the xy‐plane.

The rotational DOF of the disc in association with the 2
translational DOF of the 2‐PRR mechanism make sure
Figure 1. The mechanical system of the platform and the ADBM that the ADBM satisfies the prerequisites in Sec. 2. Now
the ADBM is designed as a 3‐DOF planar serial‐parallel
As illustrated in Figure 1, the platform and its unbalanced
mechanism and it is thus able to generate the necessary
rotating elements are represented jointly with the red
balancing forces and moments to the platform.
box. Under such circumstances, the unbalanced platform

endure the net shaking forces and the net shaking
As shown in Figure 2, Mj, lj, and rj are the mass, length
moments caused by the summation of the individual
and position of centre of gravity of the link j, j = 2 and 3.
rotating elements. This influence usually results in system
M1 and l1 are the mass and moment of inertia of the disc.
instability and vibrations. The major function of the
The net mass MAM, moment of inertia IAM and position of
ADBM on the platform is to counterbalance the net
centre of the net mass cAM of the ADBM can be expressed
shaking forces and net shaking moments, especially when
as follows:
there are lots of individual rotating elements on the
platform. Additionally, the ADBM also generates �� ∑�� (1)
additional forces and moments to actuate the platform.
� �
Therefore, with appropriate actuation forces and �� . �� ∑�� . �� (2)
moments, the ADBM could realize the dynamic balancing
�
of the platform with respect to a given trajectory. �� . ∑�� . �� (3)
� ��
3. Design and Kinematics of the ADBM where the position is measured with respect to the
moving reference frame attached to the platform, whose
As discussed in the last section, the platform is influenced
origin is fixed at point O. �� is the position of the mass of
by the shaking forces and moments. The shaking forces
gravity of the disc and the links. Suppose �� is defined
could be eliminated by adding a counter‐mass. Similarly,
as: �� , �� .
the shaking moments can be moment‐balanced by a

single actively driven counter‐rotating element [23].
The position of the centre of gravity (c.g.) of the disc
Therefore, a counter‐rotary counter‐mass (CRCM)
could be expressed as follows:
mechanism is adopted in the design of the ADBM. As
illustrated in Figure 2, the ADBM is composed of a � �
�� (4)
CRCM which is mounted on a planar two‐branch‐ �
prismatic‐revolute‐revolute (2‐PRR) parallel mechanism. � �
�� (5)
where �� and �� are the input variables of the two

prismatic joints, and h is the distance between the two
sliding tracks of the prismatic joints. With the position of
the disc obtained, the positions of the c.g. of the two links
can be given as:
� � � ��
�� . �� , �� .
��
� �� (6)
�
and
� � � ��
�� . �� , �� .
��
� �� (7)
�
Figure 2. Kinematic configuration of the ADBM
Now the positions of the disk and links are determined
The CRCM is designed as a disc which rotates by the input variables �� and �� . Then the position of the
perpendicular to the xy‐plane and is fixed on the end‐ centre of the net mass of the ADBM and the net inertia of
effector of the planar 2‐PRR parallel mechanism. The 2‐ moment can also be obtained through Eq. (3) and Eq. (2).
www.intechopen.com Kun Wang, Minzhou Luo, Tao Mei, Jianghai Zhao and Yi Cao: Dynamics Analysis of a Three-DOF Planar 3
∑� �
4. Dynamics Analysis � ��
��
� ��
(11)
��
The 3‐DOF ADBM is installed on the unbalanced

According to Eq. (10) and (11), the state of the platform
platform. The state of the platform can be determined
will change as the motion of the rotating elements varies.
through dynamics analysis of the entire system. All the
Traditionally, if dynamic balancing is implemented with
forces and moments applied to the system are illustrated
respect to equilibrium, then the linear and angular
in Figure 3. In this figure, point Q and point O denote the
accelerations of the platform should be minimized
origins of the inertial frame and the moving platform
towards zero. However, if dynamic balancing is
frame. �� represents the rotation angle of the platform
performed with respect to a given trajectory, the
with respect to the inertial frame, and φ represents the
involvement of the ADBM becomes a must.
polar angle of the ADBM‐fixed frame B with respect to

the platform frame O. The ADBM is mounted on the
Supposing the force and moment of the platform are
platform and its relative motions with respect to the
denoted respectively as �� and �� , they can be
moving platform can also be expressed in inertial frame
expressed via the Newton‐Euler equations, namely:
Q.
� (12)
��
� (13)
��
where �� and �� are the actuation force and moment
that the ADBM exerts on the platform. �� and ��
denote the mass and moment of inertia of the
platform. �� and �� represent the linear acceleration
and angular acceleration of the platform with respect to
the ground. Additionally, �� and �� are the net shaking
forces and moments exerted by individual rotating
elements as introduced in Eq. (8) and (9). Similarly, the
Figure 3. Forces and moments acting on the machine Newton‐Euler equations for the ADBM are:
Since the actuation forces and moments are dependent on ��

� (14)
the state variables of a system, the inverse dynamics of a
� � �� (15)
� ��
system can be determined when its motion trajectory is
specified. The dynamics of the whole mechanical system
where �� is the position acceleration of the centre of
should include three parts: the motion of the rotating
mass of the ADBM that is mounted on the platform and
elements, the active balancing of the ADBM and the
measured with respect to the ground. The corresponding
resultant motion of the platform along a given trajectory.
position vector �� can be expressed as:
First, the forces and moments acting on the platform are
analysed. Based the kinetics of the platform, the reaction �� (16)
forces and moments due to individual rotating elements
and the ADBM must be considered. For simplicity, each where �� denotes the position vector of the origin O of
unbalanced element is approximately modelled as a 1‐ the platform with respect to ground and �� denotes the
DOF rotating link. Let �� and �� denote the summation of position vector of the ADBM with respect to the platform.
the shaking forces and shaking moments, namely: �� is the rotation matrix which indicates the orientation
of the platform with respect to the inertia frame, namely:
�� ∑�� (8)
��
�� ∑�� (9) ��
��
where �� and �� are the mass and moment of inertia of the
Therefore, ��
� can be obtained by taking the second
ith rotating element. �� and �� are the corresponding
derivative of Eq. (16) with respect to time:
linear and angular accelerations. Since the reaction forces
and moments are equal and opposite to the shaking � � ��
��
� � ��
forces and shaking moments, the linear acceleration ��
and angular acceleration �� of the platform without the � � � �� (17)
� � ��
��
ADBM can be calculated as:
where ��
� and ��
� denote the velocity and acceleration
� ∑�
��
� ��
�� (10) of the ADBM relative to the platform. E stands for a 2 by
� ��
2 skew‐symmetric matrix, namely:

balancing with respect to equilibrium is firstly performed
0 �1
�� in order to demonstrate the fundamental functionality of
1 0
the ADBM. Furthermore, these results are used to
The first term in Eq. (17) is contributed by the linear compare with those of the dynamic balancing with
acceleration of O relative to the ground, the second term respect to a given trajectory. As a summary, the platform
is contributed by the relative motion of the ADBM with can be dynamically balanced with respect to either
respect to the platform and the rest is contributed by the equilibrium or a given trajectory in the presence of
rotation of the platform with respect to the inertial frame. different external shaking forces and shaking moments.
The effectiveness and reliability of the ADBM are thus
According to these aforementioned equations, the validated.
adjusted acceleration of the balancing platform can be
obtained as follows: In these simulations, the input functions of the shaking
forces and moments are first given in Table 1 and the
��
� �
��
� ��
� � �� three different trajectories of the platform are
��
respectively prescribed in Table 2. The trajectories of the
� � � �� ∑�� (18)
� � �� platform in Case A are designed to verify the active
��
dynamic balancing with respect to equilibrium, so the
� ��∑�
��
��
kinematic states are correspondingly set to be zeros. In
� �
�� (19)
�� Case B, a different set of trajectories are defined as the
given trajectories of the dynamic balancing. Since the
Eq. (18) and (19) imply that once the input variables of the stochastic periodic motions of the platform can be
ADBM are given, the motion state and the trajectory can decomposed into a series of trigonometric functions
be determined. Therefore, through the inverse using Fourier transformation, the trajectories of the
kinematics, it is easy to obtain the input variables of platform are formulated using sinusoidal functions.
actuators when giving the desired trajectory of the Additionally, to test the anti‐interference performance
platform. In the next section, numerical examples are and reliability of the ADBM, the platform is required to
presented to verify the feasibility of the ADBM in the track the original trajectories when various shaking
active dynamic balancing with respect to a given forces and shaking moments are both presented.
trajectory. Therefore, extra disturbance terms are involved in the
overall reaction forces and moments of the shaking
5. Numerical Examples
elements in Case C of Table 1, while the predefined
In this section, simulations by MAPLETM are presented trajectories of the platform in Case C in Table 2 are
in order to validate the feasibility of the ADBM proposed actually the same as those of Case B.
in this paper. The simulation of traditional dynamic

The total acting force and moment of all the rotating elements
Shaking force in X‐direction (N) Shaking force in Y‐direction (N) Shaking moment (N.m)
Case A fsx=0.15sin(2.5t) fsy=0.05cos(1.5t) s=0.015sin(t)
Case B fsx=0.15sin(2.5t) fsy=0.05cos(1.5t) s=0.015sin(t)
Case C fsx=0.15sin(2.5t)+0.01cos(0.8t) fsy=0.05cos(1.5t)+0.01sin(t) s=0.015sin(t)‐0.01sin(2t+3)
Table 1. Three cases of the total acting force and moment of all the rotating elements
The trajectories of the platform
Motion in X‐direction (m) Motion in Y‐direction (m) Orientation (rad)
Case A ux=0 uy=0 =0
Case B ux=0.05cos(2t) uy=0.02sin(2t) =sin(2t)
Case C ux=0.05cos(2t) uy=0.02sin(2t) =sin(2t)
Table 2. Three cases of predefined trajectories of the platform
In all cases, the design values of the mass and moment of be equivalent: l1= l2=0.2m. It is also assumed that the
inertia of the platform are chosen as: Mpl=4.0 kg, Ipl=0.006 distance between the two sliding tracks of the prismatic
kg.m2. As for the ADBM, because the mass of the links joints h=0.3m.
and their inertia of moment are negligible, its mass and
moment of inertia are assumed to be equal to that of the The simulations consist of two parts. Firstly, the platform
disc, namely: MAM =M1=2.5 kg, IAM =1/2M1r12=0.003125 of the mechanism is supposed to be subjected to the
kg.m2. Besides, in order to simplify the inverse external shaking forces and shaking moments as shown
kinematics, the lengths of the two links are supposed to in Table 2. Simultaneously, the mechanism is actuated to
track the prescribed trajectory as shown in Table 1. The acceleration of the disc of the ADBM; then the actual force
control variables of the ADBM are calculated to and moment applied by the ADBM on the base of the
demonstrate the practical applicability of this mechanical platform are computed. These actual forces and moments
device. Secondly, the computed control variables are used are then compared with those computed desired forces
to calculate the actual linear acceleration and angular and moments in order to validate the model.

(a) The actual displacements of two prismatic joints under Case A. (A) The orientation angle of the disc under Case A.

(b) The actual displacements of two prismatic joints under Case B. (B) The orientation angle of the disc under Case B.

(c) The actual displacements of two prismatic joints under Case C. (C) The orientation angle of the disc under Case C.
Figure 4. Displacements of the two prismatic joints and orientation angle of the rotary disc of the ADBM. Case A: dynamic balancing
with respect to equilibrium, Case B: dynamic balancing with respect to given trajectories, Case C: dynamic balancing with respect to
given trajectories when disturbances are involved into the shaking forces and shaking moments.

(1) The calculation of control variables When the actual displacements of two prismatic joints
and the orientation angle of the disc are known, the
Since the position of the disc of the ADBM is constrained motion trajectory of the disc can be obtained. Then the
by the sliders which are free to slide on their rails disc can be actuated in reaction to the shaking forces and
attached to the platform, the acceleration control of the shaking moments such that the resultant forces and
disc of the ADBM is achieved by the control of the resultant moments applied on the platform are modified
motions of the moving sliders. That means that the in order to make the platform dynamically balanced with
desired rotational acceleration of the disc and the desired
respect to a given trajectory.
translational acceleration of the prismatic joints with
respect to the platform are the control variables of the (2) The effectiveness of the ADBM
system. In order to obtain these desired relative
accelerations, a feedback control (e.g., PID control) with a Simulations are then performed in order to validate the
relative acceleration measurement can be used. The functionality of the ADBM. In these simulations, the
drawback of the acceleration control method however, is actual translational acceleration and rotational
that the measured acceleration is noisy. Actually, it is acceleration of the ADBM can be calculated according to
more practical to use the velocity or position control to actual displacements of the two sliders and rotational
render the desired accelerations. Therefore, the position angle of the disc of the ADBM. Fig. 5 presents the results
control with the integration technique is implemented respectively obtained under Cases A, B and C. The
here. The discrete desired displacement/angle position to acceleration trajectories of the disc of the ADBM are also
render the desired linear acceleration/angular recorded.
acceleration can be obtained by first and second
integration, namely: Then the summation of the shaking forces and shaking
moments exerted on the platform, and the computed
�� (20)
desired resultant external forces and moments which
�� (21) drive the platform to move along the given trajectory are
calculated. Then these forces and moments are compared
where K in the time step, Ts is the sampling period and S�� , with the actual forces and the actual moments that are
S�� S� are respectively the desired position, velocity and generated by the ADBM. The results of the comparison
acceleration of the translational prismatic joints or the are shown in Fig. 6. It can be observed that the curves of
rotational disc. the actual forces and moments applied by the ADBM are
almost consistent with those of the desired driving forces
According to the above‐mentioned method, the and moments of the system.
displacements of two prismatic joints and the orientation
angle of the disc under the three cases A, B and C are
respectively calculated. The results are shown in Fig. 4.
(a) (b) (c)
Figure 5. The actual translational acceleration and rotational acceleration of the ADBM under three different cases A, B and C. Ax
presents the translational acceleration of disc of the ADBM in x‐direction with respect to the inertial frame, Ay presents the translational
acceleration of disc of the ADBM in y‐direction with respect to the inertial frame, Az denotes the rotational acceleration of disc of the
ADBM. (a) The actual accelerations of the ADBM under Case A. (b) The actual accelerations of the ADBM under Case B. (c) The actual
accelerations of the ADBM under Case C.

(a). The actual forces and actual moments produced by the ADBM as well as the desired actuate forces and moments under Case A.

(b). The actual forces and actual moments produced by the ADBM as well as the desired actuate forces and moments under Case B.

(c). The actual forces and actual moments produced by the ADBM as well as the desired actuate forces and moments under Case C.
Figure 6. The actual and desired forces and moments applied by the ADBM on the platform under three different cases A, B and C. Famx,
Famy and Mam respectively present the actual force in x‐direction, the actual force in y‐direction and the actual moment produced by the
ADBM. In addition, Fsy, Fsx and Ms in Case A respectively present the shaking forces and shaking moment applied on the base of the
platform. In Case B and Case C, there are: Fx=Fsx+Mpf.‫ݑ‬ሷ ௫ , Fy=Fsy+Mpf.‫ݑ‬ሷ ௬ , M=Ms+Ipf.‫׎‬ሷ.Fsy, Fsx and Ms respectively present the shaking force
and the shaking moment, while Mpf.‫ݑ‬ሷ ௫ , Mpf.‫ݑ‬ሷ ௬ and Ipf.‫׎‬ሷ denote the desired actuate forces and actuate moment which are used to actuate
the platform to track the given trajectories.

6. Discussion The results indicate that the ADBM can not only achieve
dynamic balancing of the platform, it can also actuate the
Fig. 6 presents the curves of the actual forces and actual platform to track a predefined trajectory.
moments produced by the ADBM and the desired forces
and moment that maintain the platform’s dynamic Future work primarily includes the refinement of the
balancing with respect to the different trajectories under dynamic model by considering more links and the closed‐
Case A, Case B and Case C. In these three cases, the actual loop feedback tracking control of the mechanism in a bid
curves are almost consistent with the computed ones. to improve the motion accuracy. Other research may
include the study on spatial multi‐DOF mechanisms for
From Figure 6(a), which shows the results of Case A, the dynamic balancing. In particular, disk‐like structures or
forces in x and y directions and the moment applied by spherical mechanisms will be considered for the
the ADBM on the platform are almost equal to the trajectory‐based active dynamic balancing of unbalanced
shaking forces and shaking moments applied on the base mechanisms.
of the platform. Therefore, the resultant forces and
moments applied on the base of the platform are equal to 8. Acknowledgements
zero. That means that the platform can be dynamically
balanced with respect to equilibrium with the effect of the This work was supported by the National Natural Science
ADBM. Therefore, the effectiveness of the ADBM is Foundation of China (grant no. 50905176 and grant no.
primarily validated. 60875069).

9. References
As for Case B, the curves of the forces and moments
applied by the ADBM coincide with the summation of [1] Yangnian Wu, C. M. Gosselin, “On the Dynamic
shaking forces and shaking moment, and the desired Balancing of Multi‐DOF Parallel Mechanisms with
actuate forces and actuate moment for the ADBM. Multiple Legs,” Journal of Mechanical Design, vol. 129,
Therefore, the ADBM can counteract the adverse effects no. 2, pp.234‐238, 2007.
of the net shaking forces and moments, and meanwhile [2] K. D. Devine, E. G. Boman, R. T. Heaphy, “New
actuate the platform to track a predefined dynamic challenges in dynamic load balancing,” Applied
trajectory. So the dynamic balancing with respect to the Numerical Mathematics, vol. 52, no. 2–3, pp. 133‐152,
given trajectory is therefore validated. 2005.
[3] H. Chaudhary, S. K. Saha, “Balancing of four‐bar
Finally, when extra disturbances are involved in the linkages using maximum recursive dynamic
shaking forces and shaking moments in Case C, the forces algorithm,” Mechanism and Machine Theory, vol. 42,
and moments produced by the ADBM can not only no. 2, pp. 216‐232, 2007.
balance the resultant shaking forces and shaking [4] S. T. Chiou, M. G. Shieh, R. J. Tsai, “The Two‐Rotating‐
moments, they can also actuate the platform to track the Mass Balancers for Partial Balancing of Spatial
same dynamic trajectory as those of Case B. The results Mechanisms,” Mechanism and Machine Theory, vol. 32,
demonstrate that the predefined trajectories can still be no. 5, pp. 617‐628, 1997.
achieved in spite of variations being involved in the [5] A. Gursel, S. Bijan, “Optimum Dynamic Balancing of
shaking elements. In summary, the 3‐DOF planar ADBM Planar Parallel Manipulators Based on Sensitivity
proposed in this paper is able to realize the dynamic Analysis,” Mechanism and Machine Theory, vol. 41, no.
balancing of the platform with respect to equilibrium or a 12, pp. 1520‐1532, 2006.
given trajectory and it can also resist certain disturbances. [6] D. G. Down, M. E. Lewis, “Dynamic load balancing in
parallel queueing systems: Stability and optimal
7. Conclusion and Future Research control,” European Journal of Operational Research, vol.
168, no. 2, pp. 509‐519, 2006.
In this paper, the active dynamic balancing with respect [7] T. Rotaru, H‐H. Nägeli, “Dynamic load balancing by
to a given trajectory is addressed, which is a more general diffusion in heterogeneous systems,” Journal of
study compared with previous research on active Parallel and Distributed Computing, Vol. 64, no. 4, pp.
balancing with respect to equilibrium. A 3‐DOF active 481‐497, 2004.
dynamic balancing mechanism with serial‐parallel [8] T. A. H Coelho, L. Yong, V. A. Alves, “Decoupling of
configuration is designed to validate this concept. The Dynamic Equations by Means of Adaptive Balancing
configuration of the system, including the unbalancing of 2‐Dof Open‐Loop Mechanisms,” Mechanism and
platform as well as the ADBM, is introduced firstly. Then Machine Theory, vol. 39, no. 8, pp.871‐881, 2004.
the kinematic and dynamic modelling of the ADBM is [9] S. Foucault, C. M. Gosselin, “Synthesis, Design, and
presented. The forces and moments analysis on the whole Prototyping of a Planar Three Degree‐of‐Freedom
mechanical system is developed. Finally, simulations are Reactionless Parallel Mechanism,” Journal of
presented to demonstrate the effectiveness of the ADBM. Mechanical Design, vol. 126, no. 6, pp.992‐999, 2004.
[10] V. Wijk, J. L. Herder, “Comparison of Various Heavy Machinery (in Chinese), vol. 11, no. 4, pp. 40‐46,
Dynamic Balancing Principles Regarding Additional 1986.
Mass and Additional Inertia,” Journal of Mechanisms [17] I.S. Kochev, “Active Balancing of the Frame Shaking
and Robotics , vol.1, 2009. Moment in High Speed Planar Machines,” Mechanism
[11] S‐H. Lee, B‐S. Kim et al., “A Study on Active and Machine Theory, vol. 27, no.1, pp. 53‐58, 1992.
Balancing for Rotating Machinery Using Influence [18] T. Thuemmel, “Dynamic Balancing of Linkages by
Coefficient Method,” in Proceedings of 2005 IEEE Active Control With Redundant Drives,” in
International Symposium on Computational Intelligence Proceedings of the Ninth World Congress of the Theory of
in Robotics and Automation, Espoo, Finland, 2005, pp. Machines and Mechanisms, pp. 970–974. 1995.
659‐664. [19] J. M. McCarthy, “Introduction to Theoretical
[12]Y. Wu, C. M. Gosselin, “Design of Reactionless 3‐DOF Kinematics,” MIT Press, Cambridge, MA, pp. 67–73.
and 6‐DOF Parallel Manipulators Using 1990.
Parallelepiped Mechanisms,” IEEE Transactions on [20] V. Wijk, J. L. Herder, “Active Dynamic Balancing
Robotics, vol. 21, no. 5, pp. 821‐833, 2005. Unit for Controlled Shaking Force and Shaking
[13] C. M. Gosselin, B. Mooreb, J. Schicho, “Dynamic Moment Balancing,” in Proceedings of ASME 2010,
balancing of planar mechanisms using toric Montreal, vol. 2, pp. 1515‐1522.
geometry,” Journal of Symbolic Computation, vol. 44, [21] M. Acevedo, M. Ceccarelli et al., “Application of
no. 9, pp. 1346‐1358, 2009. Counter‐Rotary Counterweights to the Dynamic
[14] Y. Kang, T‐W. Lin, et al., “Optimal Balancing of Balancing of a Spatal Parallel Manipulator,” Journal of
Flexible Rotors by Minimizing the Condition Applied Mechanics and Materials, vol. 162, pp.224‐233,
Number of Influence Coefficients,” Mechanism and 2012.
Machine Theory, vol. 43, no. 7, pp. 891‐908, 2008. [22] A. B. Ortega, F. B. Carbajal et al., “Active Disk for
[15] I.S. Kochev, “General Method for Active Balancing of Automatic Balancing of Rotor‐Bearing Systems,” in
Combined Shaking Moment and Torque Fluctuations Proceedings of 2008 American Control Conference,
in Planar Linkages,” Mechanism and Machine Theory, Washington, USA, pp. 3023‐3028, 2008.
vol. 25, no.6, pp. 679‐687, 1990. [23] V. Wijk, J. L. Herder, “ Force Balancing of Variable
[16] Z. Huang, Z. D. Shi, “Shaking moment balancing of Payload by Active Force‐Balanced Reconfiguration of
link mechanisms,” Journal of Northeast Institute of the Mechanism,” in Proceedings of REMAR, pp. 323 –
330, 2009.


Dynamics Analysis of A Three-DOF Planar Serial-Parallel Mechanism For Active Dynamic Balancing With Respect To A Given Trajectory

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Dynamics Analysis of A Three-DOF Planar Serial-Parallel Mechanism For Active Dynamic Balancing With Respect To A Given Trajectory

Uploaded by

Copyright:

Available Formats

ARTICLE

International Journal of Advanced Robotic Systems