Force balance of mechanisms and parallel robots through reconfiguration method

Abstract

When mechanisms and parallel robots move, because the center of mass (CoM) is not fixed, vibration is produced in the system. Normally, force balance is achieved by using counterweights or damping methods. However, the problem is that the whole system will become heavier and have more inertia. Here we try to achieve force balance not by using counterweights or damping, but through designing naturally force balanced mechanisms to achieve the goal, this can be done by the new method we proposed here, i. e. force balancing through reconfiguration, which can reduce the addition of mass and inertia of the whole system. After designing a naturally force balanced single leg, legs will be combined to synthesize parallel mechanisms. This research is important for manufacturing and space areas.