NOVEL PLANAR BALANCED (2-RR)R PARALLEL MANIPULATOR ADAPTIVE FOR ENERGY EFFICIENCY

Zhongxing Yang and Dan Zhang

Keywords

Dynamic balancing, configuration change, link interference avoidance, adaptive structure, minimum energy consumption,environment-friendly manufacturing

Abstract

Unbalanced machining tools may affect the manufacturing precision, while dynamic balancing requires additional balancing components that could lead to link interference and additional driving energy. This paper presents a dynamically balanced planar parallel manipulator for manufacturing application. Despite the additional balancing parts, the configuration change is considered for link interference avoidance. The base joints of the manipulator could be relocated so that the adaptive structure adjusts for minimum energy consumption solution for each prescribed cyclic motion. The design is discussed as an environment-friendly manufacturing robot.

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