This study deals with the compensation of gravity loads in the Orthoglide 5-axis, a prototypal parallel robot with Linear-Delta architecture for machining operations. Static balancing is analytically achieved by using an approach based on constant-force generators. A feasible solution, based on tension springs and a simple additional linkage, is presented to implement gravity compensation in practice. Both the robustness and the effectiveness of the proposed balancing strategy are confirmed by numerical analyses. In particular, the simulation results prove that the balancing device can provide an appreciable enhancement of the mechanism working performance in terms of improved energy efficiency.

Gravity compensation of the Orthoglide 5-axis Parallel Kinematics Machine / Martini, A.; Troncossi, M.; Carricato, M.; Rivola, A.. - STAMPA. - (2015), pp. 67-73. (Intervento presentato al convegno Ottava Giornata di Studio Ettore Funaioli tenutosi a Bologna nel 18 Luglio 2014).

Gravity compensation of the Orthoglide 5-axis Parallel Kinematics Machine

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

Abstract

This study deals with the compensation of gravity loads in the Orthoglide 5-axis, a prototypal parallel robot with Linear-Delta architecture for machining operations. Static balancing is analytically achieved by using an approach based on constant-force generators. A feasible solution, based on tension springs and a simple additional linkage, is presented to implement gravity compensation in practice. Both the robustness and the effectiveness of the proposed balancing strategy are confirmed by numerical analyses. In particular, the simulation results prove that the balancing device can provide an appreciable enhancement of the mechanism working performance in terms of improved energy efficiency.
2015
Ottava Giornata di Studio Ettore Funaioli, 18 Luglio 2014
67
73
Gravity compensation of the Orthoglide 5-axis Parallel Kinematics Machine / Martini, A.; Troncossi, M.; Carricato, M.; Rivola, A.. - STAMPA. - (2015), pp. 67-73. (Intervento presentato al convegno Ottava Giornata di Studio Ettore Funaioli tenutosi a Bologna nel 18 Luglio 2014).
Martini, A.; Troncossi, M.; Carricato, M.; Rivola, A.
File in questo prodotto:
Eventuali allegati, non sono esposti

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/517895
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus ND
  • ???jsp.display-item.citation.isi??? ND
social impact