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EnglishThe 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.
| Titolo: | Static Balancing of a Parallel Kinematics Machine with Linear-Delta Architecture | |
| Autore/i: | MARTINI, ALBERTO; TRONCOSSI, MARCO; CARRICATO, MARCO; RIVOLA, ALESSANDRO | |
| Autore/i Unibo: | ||
| Anno: | 2014 | |
| Titolo del libro: | ASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis - ESDA2014 | |
| Pagina iniziale: | 1 | |
| Pagina finale: | 8 | |
| Digital Object Identifier (DOI): | http://dx.doi.org/10.1115/ESDA2014-20449 | |
| 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. | |
| Data stato definitivo: | 9-dic-2015 | |
| Appare nelle tipologie: | 4.01 Contributo in Atti di convegno |
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http://hdl.handle.net/11585/392582
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