Optimum Shaking Force Balancing of Planar 3-RRR Parallel Manipulators by means of an Adaptive Counterweight System

This paper deals with the problem of optimum balancing of planar 3-RRR parallel robots for fast manipulation. It is known that in fast robots shaking forces on the frame vary greatly during a cycle of operation. Such forces can cause vibrations having various negative impacts. Several balancing techniques have been developed to solve this problem in planar 3-RRR parallel robots. However, it is known that the manipulators after complete shaking force balancing become very heavy, which leads to the significant increase of input torques and dynamic loads in the joints. This is why in the present study an analytically tractable solution for optimum shaking force balancing of planar 3-RRR parallel manipulators is proposed. The proposed balancing has been carried out by only three counterweights mounted on the input links and having constant masses but adjustable locations. The efficiency of the suggested solution has been illustrated via a numerical simulations carried out by using ADAMS software.