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

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.

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