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 / A. Martini; M. Troncossi; M. Carricato; A. Rivola. - STAMPA. - 3:(2014), pp. ESDA2014-20449.1-ESDA2014-20449.8. (Intervento presentato al convegno ASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis - ESDA2014 tenutosi a Copenhagen, Denmark nel June 25-27, 2014) [10.1115/ESDA2014-20449].
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
