Static balancing of a spatial six-degree-of-freedom decoupling parallel mechanism
作者： Feng Gao , Xianchao Zhao , Chenkun Qi , Taoran Liu
DOI: 10.1007/S12206-013-1104-9
关键词: Control theory 、 Computer science 、 Decoupling (electronics) 、 Hybrid approach
摘要: The static balancing of a spatial 6-degree-of-freedom (6-DoF) decoupling parallel mechanism is discussed in this paper. Two traditional approaches (using counterweights and the springs) are used to statically balance mechanism. Due existence their shortcomings, hybrid approach proposed based on main feature that 3-DoF rotating part can be itself, which means its mass has no effect gravity system, for any configuration mechanism, so considered as whole calculation simplified. Finally, examples dynamic analysis corresponding three methods given illustrate results.
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