Static balancing of spatial six‐degree‐of‐freedom parallel mechanisms with revolute actuators

摘要: The static balancing of spatial 6-degree-of-freedom parallel mechanisms or manipulators with revolute actuators is studied in this article. Two methods, namely, using counterweights and springs, are used. first method leads to a stationary global center mass while the second approach whose total potential energy (including elastic stored springs as well gravitational energy) constant. position vector manipulator expressed functions orientation platform. Then, conditions for derived from resulting expressions. Finally, examples given illustrate design methodologies. © 2000 John Wiley & Sons, Inc.