The study deals with the compensation of gravity loads in closed-loop mechanisms as a possible strategy for enhancing their working performance. This work focuses on the Orthoglide 5-axis, a prototypal parallel robot for milling operation, characterized by linear-delta architecture with two further serial DOFs. Starting from a general theory formerly proposed by the authors, gravity compensation of the mechanism is analytically carried out. The statically balanced Orthoglide 5-axis can be obtained by installing on one leg a proper set of extension springs and a simple additional linkage. A feasible design solution for developing the device in practice is presented. The proposed balancing device can be implemented with minor modifications of the original robot design, thus appearing a profitable solution to be possibly extended to other machinery with similar architecture. Copyright {\copyright} 2014 by ASME.

Static Balancing of a Parallel Kinematics Machine with Linear-Delta Architecture

MARTINI, ALBERTO;TRONCOSSI, MARCO;CARRICATO, MARCO;RIVOLA, ALESSANDRO
2014

Abstract

The study deals with the compensation of gravity loads in closed-loop mechanisms as a possible strategy for enhancing their working performance. This work focuses on the Orthoglide 5-axis, a prototypal parallel robot for milling operation, characterized by linear-delta architecture with two further serial DOFs. Starting from a general theory formerly proposed by the authors, gravity compensation of the mechanism is analytically carried out. The statically balanced Orthoglide 5-axis can be obtained by installing on one leg a proper set of extension springs and a simple additional linkage. A feasible design solution for developing the device in practice is presented. The proposed balancing device can be implemented with minor modifications of the original robot design, thus appearing a profitable solution to be possibly extended to other machinery with similar architecture. Copyright {\copyright} 2014 by ASME.
ASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis - ESDA2014
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A. Martini; M. Troncossi; M. Carricato; A. Rivola
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11585/392582
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