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Research Papers

Reactionless Two-Degree-of-Freedom Planar Parallel Mechanism With Variable Payload

[+] Author and Article Information
Alexandre Lecours

Département de Génie Mécanique, Université Laval, Québec, QC, G1V 0A6, Canadaalexandre.lecours.1@ulaval.ca

Clément Gosselin1

Département de Génie Mécanique, Université Laval, Québec, QC, G1V 0A6, Canadagosselin@gmc.ulaval.ca

Although the authors of Ref. 11 use the term dynamic balancing, their work proposed only static balancing, in the sense of the definitions used here. The synthesized mechanisms are not reactionless because reaction moments will not be zero.

1

Corresponding author.

J. Mechanisms Robotics 2(4), 041010 (Sep 30, 2010) (7 pages) doi:10.1115/1.4002388 History: Received May 08, 2009; Revised August 10, 2010; Published September 30, 2010; Online September 30, 2010

A reactionless mechanism is one that does not exert any reaction force or moment on its base at all times, for any arbitrary trajectory of the mechanism. This paper addresses the static and dynamic balancing of a two-degree-of-freedom parallel planar mechanism (five-bar mechanism). A simple and effective adaptive balancing method is presented that allows the mechanism to maintain the reactionless condition for a range of payloads. Important proofs concerning the balancing of five-bar mechanisms are also presented. The design of a real mechanism where parallelogram linkages are used to produce pure translations at the end-effector is also presented. Finally, using dynamic simulation software, it is shown that the mechanism is reactionless for arbitrarily chosen trajectories and for a variety of payloads.

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Copyright © 2010 by American Society of Mechanical Engineers
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Figures

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Figure 3

Special five-bar parallelogram mechanism

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Figure 4

First link of the special five-bar parallelogram mechanism

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Figure 7

Reaction moments on the base–parallelogram mechanism

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Figure 8

Reaction force and moment–test 1—mechanism balanced for no payload–no payload

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Figure 9

Reaction force and moment–test 2—mechanism balanced for no payload–0.25 kg payload

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Figure 10

Reaction force and moment–test 3—mechanism balanced for 0.25 kg payload–0.25 kg payload

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Figure 1

Special five-bar mechanism

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Figure 2

Bar 2 with two counterweights

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Figure 6

Reaction forces on the base–parallelogram mechanism

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