Inertia forces and moments balancing in robot manipulators: a review

Abstract The balancing of linkages is an integral part of the mechanism design. Despite its long history, mechanism balancing theory continues to be developed and new approaches and solutions are constantly being reported. Hence, the balancing problems are of continued interest to researchers. Several laboratories around the world are very active in this area and new results are published regularly. In recent decades, new challenges have presented themselves, particularly, the balancing of robots for fast manipulation. Various design concepts and methods for balancing of robot manipulators are available in the literature. The author believes that this is an appropriate moment to present the state of the art of the studies devoted to balancing of robot manipulators and to summarize their research results. Thus, the aim of this paper is to propose a review of shaking force and shaking moment balancing methods used in robotics, in particular, for serial and parallel architectures. The described methods are arranged into two principal parts: the resultant inertia force (shaking force) balancing and the resultant inertia moment (shaking moment) balancing. Then each part is divided into subgroups according to features of balancing methods and illustrated via kinematic schemes. At the end of the paper, the balanced robot manipulators having particular structures, the balancing taking into account the payload, the reactionless space robots and the optimization methods used in the balancing of robot manipulators are discussed.

[1]  Marco Ceccarelli,et al.  Application of Counter-Rotary Counterweights to the Dynamic Balancing of a Spatial Parallel Manipulator , 2012 .

[2]  Vigen Arakelian,et al.  The Design of Planar Serial Manipulators with Decoupled Dynamics Taking into Account the Changing Payload , 2016 .

[3]  Bijan Shirinzadeh,et al.  Optimum force balancing of a planar parallel manipulator , 2003 .

[4]  Justus Laurens Herder,et al.  Guidelines for Low Mass and Low Inertia Dynamic Balancing of Mechanisms and Robotics , 2009 .

[5]  Justus Laurens Herder,et al.  Active Dynamic Balancing Unit for Controlled Shaking Force and Shaking Moment Balancing , 2010 .

[6]  Sébastien Briot,et al.  Optimal Force Generation in Parallel Manipulators for Passing through the Singular Positions , 2008, Int. J. Robotics Res..

[7]  Fengfeng Xi,et al.  Dynamic balancing of hexapods for high-speed applications , 1999, Robotica.

[8]  C. Gosselin,et al.  A Counter-Rotary Counterweight (CRCW) for Light-Weight Dynamic Balancing , 2004 .

[9]  Clément Gosselin,et al.  Synthesis and design of reactionless three-degree-of-freedom parallel mechanisms , 2004, IEEE Transactions on Robotics and Automation.

[10]  Liang Yong,et al.  Decoupling of dynamic equations by means of adaptive balancing of 2-dof open-loop mechanisms , 2004 .

[11]  Damien Chablat,et al.  Multi-objective path placement optimization of parallel kinematics machines based on energy consumption, shaking forces and maximum actuator torques: Application to the Orthoglide , 2010 .

[12]  Just L. Herder,et al.  Double Pendulum Balanced by Counter-Rotary Counter-Masses as Useful Element for Synthesis of Dynamically Balanced Mechanisms , 2008 .

[13]  Sunil K. Agrawal,et al.  Reactionless space and ground robots: novel designs and concept studies , 2004 .

[14]  Vigen Arakelian,et al.  Mechatronic design of adjustable serial manipulators with decoupled dynamics taking into account the changing payload , 2016 .

[15]  Xiaolin Hu,et al.  Static balancing and dynamic modeling of a three-degree-of-freedom parallel kinematic manipulator , 2011, 2011 IEEE International Conference on Robotics and Automation.

[16]  P. R. Ouyang,et al.  A NOVEL FORCE BALANCING METHOD FOR REAL-TIME CONTROLLABLE MECHANISMS , 2002 .

[17]  Bram Demeulenaere,et al.  Comparison of Various Dynamic Balancing Principles Regarding Additional Mass and Additional Inertia , 2009 .

[18]  Sébastien Briot,et al.  Shaking Forces Minimization of High-Speed Robots via an Optimal Motion Planning , 2010 .

[19]  Roger D. Quinn,et al.  Base reaction control for space-based robots operating in microgravity environment , 1994 .

[20]  E. Papadopoulos,et al.  DESIGN OF A REACTIONLESS POINTING MECHANISM FOR SATELLITE ANTENNAS , 2011 .

[21]  Franziska Frankfurter,et al.  Theory Of Machines And Mechanisms , 2016 .

[22]  Clément Gosselin.  Gravity Compensation, Static Balancing and Dynamic Balancing of Parallel Mechanisms , 2008 .

[23]  Vigen Arakelian,et al.  Shaking Force and Shaking Moment Balancing in Robotics: A Critical Review , 2014 .

[24]  S. Sargsyan,et al.  On the design of serial manipulators with decoupled dynamics , 2012 .

[25]  V. van der Wijk,et al.  Design and analysis of closed-chain principal vector linkages for dynamic balance with a new method for mass equivalent modeling , 2017 .

[26]  Gordon R. Pennock,et al.  Theory of Machines and Mechanisms , 1965 .

[27]  Vigen Arakelian,et al.  A New 3-DoF Planar Parallel Manipulator with Unlimited Rotation Capability , 2011 .

[28]  G. G. Lowen,et al.  Balancing of linkages—an update , 1983 .

[29]  Shahram Azadi,et al.  ADAPTIVE DECOUPLING FOR OPEN CHAIN PLANAR ROBOTS , 2010 .

[30]  Kenneth J. Waldron,et al.  Kinematics, dynamics, and design of machinery , 1998 .

[31]  D. N. Nenchev,et al.  Reaction Null Space of a multibody system with applications in robotics , 2013 .

[32]  H. Lee.  Motions with minimal base reactions for redundant manipulators , 1996 .

[33]  Bijan Shirinzadeh,et al.  Optimum dynamic balancing of planar parallel manipulators , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[34]  Clément Gosselin,et al.  Static balancing of 3-DOF planar parallel mechanisms , 1999 .

[35]  P. R. Ouyang,et al.  Force Balancing of Robotic Mechanisms Based on Adjustment of Kinematic Parameters , 2005 .

[36]  Vigen Arakelian,et al.  Complete shaking force and shaking moment balancing of the position-orientation decoupled PAMINSA manipulator , 2009, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[37]  Clément Gosselin,et al.  Complete shaking force and shaking moment balancing of planar parallel manipulators with prismatic pairs , 2009 .

[38]  Mason A. Peck,et al.  Reducing Base Reactions With Gyroscopic Actuation of Space-Robotic Systems , 2009, IEEE Transactions on Robotics.

[39]  Clément Gosselin,et al.  Synthesis, optimization and experimental validation of reactionless two-DOF parallel mechanisms using counter-mechanisms , 2016 .

[40]  S. K. Ider.  Inverse dynamics of parallel manipulators in the presence of drive singularities , 2005 .

[41]  吉田 和哉,et al.  Reaction null-space based control of flexible structure mounted manipulator systems , 1996 .

[42]  Bijan Shirinzadeh,et al.  Optimum force balancing with mass distribution and a single elastic element for a five-bar parallel manipulator , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[43]  Rosario Sinatra,et al.  A novel formulation of the dynamic balancing of five-bar linkages with applications to link optimization , 2007 .

[44]  Just L. Herder,et al.  Force balancing of variable payload by active force-balanced reconfiguration of the mechanism , 2009, 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots.

[45]  Vigen Arakelian,et al.  Shaking Force and Shaking Moment Balancing of Mechanisms: A Historical Review With New Examples , 2005 .

[46]  Wan Kyun Chung,et al.  PERFORMANCE OF ROBOTIC MANIPULATORS WITH AN AUTOMATIC BALANCING MECHANISM. , 1984 .

[47]  G. He,et al.  Optimum Motion Planning of Parallel Redundant Mechanisms with Shaking Force Reduction , 2006, The Proceedings of the Multiconference on "Computational Engineering in Systems Applications".

[48]  Bin Wei,et al.  Critical review on complete dynamic balancing of mechanisms and parallel robots , 2015 .

[49]  Clément Gosselin,et al.  Synthesis, Design, and Prototyping of a Planar Three Degree-of-Freedom Reactionless Parallel Mechanism , 2004 .

[50]  Nicolas Andreff,et al.  Dynamic balancing of mechanisms by using an actively driven couter-rotary counter-mass for low mass and low inertia , 2008 .

[51]  S. Desa,et al.  A Global Approach for Using Kinematic Redundancy to Minimize Base Reactions of Manipulators , 1989 .

[52]  I. S. Kochev.  General theory of complete shaking moment balancing of planar linkages: a critical review , 2000 .

[53]  Y. Umetani,et al.  Introduction of redundant arms for manipulation in space , 1988, IEEE International Workshop on Intelligent Robots.

[54]  C. Gosselin,et al.  Comparative Analysis for Low-Mass and Low-Inertia Dynamic Balancing of Mechanisms , 2012 .

[55]  John P. Karidis,et al.  The Hummingbird minipositioner-providing three-axis motion at 50 g's with low reactions , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[56]  Sébastien Briot,et al.  Shaking force minimization of high-speed robots via centre of mass acceleration control , 2012 .

[57]  Clément Gosselin,et al.  Design of reactionless 3-DOF and 6-DOF parallel manipulators using parallelepiped mechanisms , 2005, IEEE Transactions on Robotics.

[58]  Zhihong Sun,et al.  Application of the redundant servomotor approach to design of path generator with dynamic performance improvement , 2011 .

[59]  Vigen Arakelian,et al.  Design of planar 3-DOF 3-RRR reactionless parallel manipulators , 2008 .

[60]  Sunil Kumar Agrawal,et al.  Design and modeling of classes of spatial reactionless manipulators , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[61]  Sunil K. Agrawal,et al.  On the design of reactionless 3-DOF planar parallel mechanisms , 2006 .

[62]  Sunil K. Agrawal,et al.  Design and simulation of a class of spatial reactionless manipulators , 2005, Robotica.

[63]  Justus Laurens Herder,et al.  Dynamic Balancing of Clavel’s Delta Robot , 2009 .

[64]  Fengfeng Xi,et al.  Static balancing of parallel robots , 2005 .

[65]  M. Acevedo,et al.  Dynamic Balancing of a 2-DOF 2 RR Planar Parallel Manipulator by Optimization , 2011 .

[66]  Bijan Shirinzadeh,et al.  Optimum dynamic balancing of planar parallel manipulators based on sensitivity analysis , 2006 .

[67]  Clément Gosselin,et al.  Synthesis of Reactionless Spatial 3-DoF and 6-DoF Mechanisms without Separate Counter-Rotations , 2004, Int. J. Robotics Res..

[68]  Yushu Bian,et al.  Impact vibration reduction for flexible manipulators via controllable local degrees of freedom , 2013 .

[69]  Jian Huang,et al.  On a Mechatronics Approach to Balancing of Robotic Mechanisms : Redundant Servo Motor , 2010 .

[70]  Clément Gosselin,et al.  On the Development of a Planar 3-DOF Reactionless Parallel Mechanism , 2002 .

[71]  Friedrich M. Wahl,et al.  Advances in Robotics Research , 2009 .

[72]  S. Agrawal,et al.  Planning motions of a dual-arm free-floating manipulator keeping the base inertially fixed , 1995 .

[73]  Vigen Arakelian,et al.  A Historical Review of the Evolution of the Theory on Balancing of Mechanisms , 2000 .

[74]  Sébastien Briot,et al.  Dynamic Balancing of the SCARA robot , 2008 .

[75]  Sébastien Krut,et al.  Design and experimental evaluation of a dynamically balanced redundant planar 4-RRR parallel manipulator , 2013, Int. J. Robotics Res..

[76]  Ben J Hicks,et al.  ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference , 2009 .

[77]  Clément Gosselin,et al.  On the Dynamic Balancing of Multi-DOF Parallel Mechanisms With Multiple Legs , 2007 .

[78]  Evangelos Papadopoulos,et al.  Design and motion planning for a zero-reaction manipulator , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[79]  Kazuya Yoshida,et al.  Experiments on the point-to-point operations of a flexible structure mounted manipulator system , 1996, Adv. Robotics.

[80]  G. G. Lowen,et al.  Survey of investigations into the balancing of linkages , 1968 .

[81]  Clément Gosselin,et al.  Reactionless Two-Degree-of-Freedom Planar Parallel Mechanism With Variable Payload , 2009 .

[82]  G. G. Lowen,et al.  Theory of Shaking Moment Optimization of Force-Balanced Four-Bar Linkages , 1971 .

[83]  S. Krut,et al.  Generic Method for Deriving the General Shaking Force Balance Conditions of Parallel Manipulators with Application to a Redundant Planar 4-RRR Parallel Manipulator , 2011 .

[84]  Masaru Uchiyama,et al.  Moving Base Robotics and Reaction Management Control , 1996 .

[85]  Mustafa Özdemir,et al.  Singularity robust balancing of parallel manipulators following inconsistent trajectories , 2014, Robotica.

[86]  Richard W. Longman,et al.  Satellite mounted robot manipulators - New kinematics and reaction moment compensation , 1985 .

[87]  Kazuya Yoshida,et al.  Reaction null-space control of flexible structure mounted manipulator systems , 1999, IEEE Trans. Robotics Autom..

[88]  V. F. Filaretov,et al.  Static balancing and dynamic decoupling of the motion of manipulation robots , 1993 .