Gravity compensation is a viable strategy to improve the performance of manipulators, particularly in terms of power consumption. This work studies the static balancing of a prototypal 5-axis parallel kinematics machine tool with UPS-legs. Exact gravity compensation is achieved by turning the legs into constant-force generators, through tension springs. A numerical multibody model is implemented and simulated within a commercial software environment (MSC Adams™) to assess the effectiveness of the proposed balancing strategy.
Martini, A. (2018). Gravity compensation of a 6-UPS parallel kinematics machine tool through elastically balanced constant-force generators. FME TRANSACTIONS, 46(1), 10-16 [10.5937/fmet1801010M].
Gravity compensation of a 6-UPS parallel kinematics machine tool through elastically balanced constant-force generators
Alberto Martini
2018
Abstract
Gravity compensation is a viable strategy to improve the performance of manipulators, particularly in terms of power consumption. This work studies the static balancing of a prototypal 5-axis parallel kinematics machine tool with UPS-legs. Exact gravity compensation is achieved by turning the legs into constant-force generators, through tension springs. A numerical multibody model is implemented and simulated within a commercial software environment (MSC Adams™) to assess the effectiveness of the proposed balancing strategy.| File | Dimensione | Formato | |
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