Enhanced active dynamic balancing of the planar robots using a three-rotating-bar balancer

Abstract

The concept of full compensation against the resultant shaking forces and moments for arbitrary robots using a single active dynamic balancing mechanism is first addressed. And the application principle and general balancing conditions of the active dynamic balancing mechanism are presented. With the purpose of providing detailed description of these problems, a compact planar 3-degree-of-freedom active dynamic balancing mechanism is proposed. The active balancer is composed of three independent rotating bars with their respective actuators. The rotations of the three bars could change their center of gravity positions and then generate balancing forces for the unbalanced robots. Moreover, the changing of the angular acceleration of the bars can also generate a dynamic torque to balance the shaking moment. In order to present more detail of the balancing theory, the structure and kinematic and dynamic analysis of the proposed balancing mechanism are given. Finally, numerical examples illustrate the effectiveness of the proposed three-rotating-bar balancer.