This study deals with the compensation of gravity loads in parallel kinematics machines as a possible strategy for enhancing their working performance. In particular, the paper focuses on the static balancing of the Orthoglide 5-axis, a prototypal parallel robot with Linear-Delta architecture for machining operation. Gravity compensation is analytically carried out and a feasible design, based on tension springs and a simple additional linkage, is presented to implement the proposed strategy. Simulation results prove that the balancing device may provide an appreciable enhancement of the mechanism energy efficiency.

Static balancing of a parallel kinematics machine with Linear-Delta architecture: theory, design and numerical investigation

MARTINI, ALBERTO;TRONCOSSI, MARCO;CARRICATO, MARCO;RIVOLA, ALESSANDRO
2015

Abstract

This study deals with the compensation of gravity loads in parallel kinematics machines as a possible strategy for enhancing their working performance. In particular, the paper focuses on the static balancing of the Orthoglide 5-axis, a prototypal parallel robot with Linear-Delta architecture for machining operation. Gravity compensation is analytically carried out and a feasible design, based on tension springs and a simple additional linkage, is presented to implement the proposed strategy. Simulation results prove that the balancing device may provide an appreciable enhancement of the mechanism energy efficiency.
MECHANISM AND MACHINE THEORY
Alberto Martini;Marco Troncossi;Marco Carricato;Alessandro Rivola
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11585/458366
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