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JRM Vol.26 No.5 pp. 622-627
doi: 10.20965/jrm.2014.p0622
(2014)

Paper:

Analysis and Optimization for Balancing Mechanism of High-Speed & Heavy-Load Manipulators

Yongfei Xiao, Shuhui Bi, Xuelin Wang,
Xiangdong Li, and Xinjian Fan

Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology, Institute of Automation, Shandong Academy of Science, No.19, Keyuan Road, Jinan, Shandong 250014, China

Received:
April 15, 2014
Accepted:
August 5, 2014
Published:
October 20, 2014
Keywords:
balancing mechanism, optimized design, payload capacity, dynamic model, nonlinear influence
Abstract
Balancing mechanism of robots

Heavy-load manipulators usually have a balance to minimize energy consumption and maximize payload capacity. Appropriate design parameters are important to balancing devices in improving performance. We propose evaluating optimal parameters to achieve the best possible manipulator motion features. A dynamic manipulator model with a parallel-link mechanism is analyzed using the Lagrange principal. We also propose a way to reduce nonlinear influence while improving payload capacity. The optimized method is used for instructing how to design and optimize heavyload manipulators, as shown through simulation and experiments.

Cite this article as:
Y. Xiao, S. Bi, X. Wang, <. Li, and X. Fan, “Analysis and Optimization for Balancing Mechanism of High-Speed & Heavy-Load Manipulators,” J. Robot. Mechatron., Vol.26, No.5, pp. 622-627, 2014.
Data files:
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Last updated on Nov. 15, 2018