Shaking force and shaking moment balancing in robotics: A critical review

Abstract

The continuous demand for increased operation speeds of manipulators challenges designers with various issues. One of them is the vibration in the base due to the shaking force and shaking moment. Thus, it is desirable that a highspeed manipulator will be balanced in order to reduce the variable dynamic loads transmitted to the frame. Various design concepts for balancing of manipulators are available in the literature. The aim of this paper is to propose a critical review of shaking force and shaking moment balancing methods used in robotics.