Design of Partially Balanced Planar 5R Symmetrical Parallel Manipulators via an Optimal Motion Planning

The basic concepts and methods used to deal with the problem of shaking force balancing are carried out by an optimal redistribution of moving masses, which allows the cancellation or the reduction of the variable dynamic loads on the manipulator frame. Thus, generally, the balancing is accompanied by an increase in masses of moving links, which has negative impact on the input torques and the shaking moment. In the present study, the balancing method based on the minimization of dynamic loads of a mechanical system on the frame via reducing the acceleration of its center of mass is further developed. It is suggested to balance the 5R parallel manipulator without any addition of supplementary masses. It becomes possible via optimal motion generation of the manipulator’s common center of mass that leads to the minimization in shaking forces. To minimize the acceleration of the manipulator’s common center of mass the “bang-bang” law is used. The efficiency of the suggested approach is illustrated by numerical simulations.