Abstract
The Delta robot has shown to be a useful device in many applications. Due to large accelerations however, vibrations can decrease the accuracy and performance considerably. Instead of common techniques to reduce vibrations such as damping or including waiting times in the motion cycle, this article shows how the Delta robot can be dynamically balanced in a practical way by which all vibrations are eliminated. Because of its specific architecture, the Delta robot can be force balanced with only three counter-masses and two additional links. Moment balancing can be achieved by active actuation of three additional rotating inertias.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Baradat, C., Arakalian, V., Briot, S., Guegan, S.: Design and prototyping of a new balancing mechanism for spatial parallel manipulators. Journal of Mechanical Design (2008)
Clavel, R.: Device for displacing and positioning an element in space, patent number: Wo8703528a1 (1987)
Clavel, R.: Conception d’un Robot Parallele Rapide a 4 Degres de Liberte - PhD. thesis. Lausanne EPFL (1991)
Hilpert, H.: Weight balancing of precision mechanical instruments. Journal of Mechanisms 3, 289–302 (1968)
Lowen, G.G., Berkof, R.S.: Survey of investigations into the balancing of linkages. Journal of Mechanisms 3, 221–231 (1968)
Raaijmakers, R.: Besi zoekt snelheidslimiet pakken en plaatsen op (besi attacks the speedlimit for pick and place motion). Mechatronica nieuws (dutch magazine) pp. 26–31 (2007)
Van der Wijk, V., Herder, J.L.: Dynamic balancing of mechanisms by using an actively driven counter-rotary counter-mass for low mass and low inertia. Proceedings of the Second International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Montpellier pp. 241–251 (2008)
Van der Wijk, V., Herder, J.L.: Guidelines for low mass and low inertia dynamic balancing of mechanisms and robotics. Proceedings of the German Workshop on Robotics 2009 - Springer-Verlag (accepted) (2009)
Van der Wijk, V., Herder, J.L., Demeulenaere, B.: Comparison of various dynamic balancing principles regarding additional mass and additional inertia. Journal of Mechanisms and Robotics (accepted) (2009)
Van der Wijk, V., Herder, J.L., Demeulenaere, B., Gosselin, C.M.: Comparative analysis and optimization for low-mass and low-inertia dynamic balancing of a 1-DOF rotatable link balanced by a counter-rotary counter-mass. Mechanisms and Robotics (submitted) (2008)
Wu, Y., Gosselin, C.M.: Design of reactionless 3-dof and 6-dof parallel manipulators using parallelepiped mechanisms. IEEE Transactions on Robotics 21(5), 821–833 (2005)
Ye, Z., Smith, M.R.: Complete balancing of planar linkages by an equivalence method. Mechanism and Machine Theory 29(5), 701–712 (1994)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
van der Wijk, V., Herder, J.L. (2009). Dynamic Balancing of Clavel’s Delta Robot. In: Kecskeméthy, A., Müller, A. (eds) Computational Kinematics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-01947-0_39
Download citation
DOI: https://doi.org/10.1007/978-3-642-01947-0_39
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-01946-3
Online ISBN: 978-3-642-01947-0
eBook Packages: EngineeringEngineering (R0)