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1 results

  • An application of natural matrices to the dynamic balance problem of planar parallel manipulators

  • Jaime Gallardo-Alvarado
  • Journal:
    Robotica / Volume 42 / Issue 9 / September 2024
    Published online by Cambridge University Press:
    19 September 2024, pp. 3044-3064
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  • This paper introduces a simplified matrix method for balancing forces and moments in planar parallel manipulators. The method resorts to Newton’s second law and the concept of angular momentum vector, yet it is not necessary to perform the velocity and acceleration analyses, tasks that were normally unavoidable in seminal contributions. With the introduction of natural matrices, the proposed balancing method is independent of the time and the trajectory generated by the moving links of parallel manipulators. The effectiveness of the method is exemplified by balancing two planar parallel manipulators.