{"title":"An application of natural matrices to the dynamic balance problem of planar parallel manipulators","authors":"Jaime Gallardo-Alvarado","doi":"10.1017/s0263574724001267","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":49593,"journal":{"name":"Robotica","volume":"23 1","pages":""},"PeriodicalIF":1.9000,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Robotica","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1017/s0263574724001267","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0
Abstract
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.
期刊介绍：
Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.
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