LEADER 06596nam 22007575 450 001 9910299849103321 005 20200705145439.0 010 $a3-319-12490-0 024 7 $a10.1007/978-3-319-12490-2 035 $a(CKB)3710000000343660 035 $a(EBL)1974082 035 $a(SSID)ssj0001424336 035 $a(PQKBManifestationID)11784524 035 $a(PQKBTitleCode)TC0001424336 035 $a(PQKBWorkID)11367213 035 $a(PQKB)10171245 035 $a(DE-He213)978-3-319-12490-2 035 $a(MiAaPQ)EBC1974082 035 $a(PPN)183521455 035 $a(EXLCZ)993710000000343660 100 $a20150127d2015 u| 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 10$aBalancing of Linkages and Robot Manipulators $eAdvanced Methods with Illustrative Examples /$fby Vigen Arakelian, Sébastien Briot 205 $a1st ed. 2015. 210 1$aCham :$cSpringer International Publishing :$cImprint: Springer,$d2015. 215 $a1 online resource (298 p.) 225 1 $aMechanisms and Machine Science,$x2211-0984 ;$v27 300 $aDescription based upon print version of record. 311 $a3-319-12489-7 320 $aIncludes bibliographical references at the end of each chapters. 327 $aPart I Introduction to balancing -- 1 Introduction -- 2 An overview of balancing methods -- 2.1 Shaking force and shaking moment balancing of linkages -- 2.2 Shaking force and shaking moment balancing of robots and manipulators -- 2.3 Gravity balancing in robotics -- Part II Balancing of Linkages -- 3 Partial shaking force and shaking moment balancing of linkages -- 3.1 Shaking moment minimization of fully force-balanced planar linkages by displacing one counterweight -- 3.2 Shaking moment minimization of fully force-balanced planar linkages by displacing several counterweights -- 3.3 Shaking moment minimization of fully force-balanced spatial linkages -- 3.4 An approximate method of calculating a counterweight for the optimum shaking force and shaking moment balancing of linkages -- 4 Complete shaking force and shaking moment balancing of linkages -- 4.1 Complete shaking force and shaking moment balancing of in-line four-bar linkages by adding a class-two RRR or RRP Assur group -- 4.2 Complete shaking force and shaking moment balancing of planar linkages by adding the articulated dyads -- 4.3 Complete shaking force and shaking moment balancing of RSS?R spatial linkages -- 4.4 Design of self-balanced mechanical systems -- 5 Balancing of slider-crank mechanisms -- 5.1 Generalized Lanchester balancer -- 5.2 Balancing via the properties of the Watt gear-slider mechanism -- 5.3 Shaking moment cancellation of self-balanced slider-crank mechanical systems by means of optimum mass redistribution -- 5.4 Simultaneous inertia force/moment balancing and torque compensation of slider-crank mechanisms -- 5.5 Shaking force and shaking moment balancing of slider-crank mechanisms via optimal generation of the input crank rotation -- Part III Balancing of Robot Manipulators -- 6 Balancing of manipulators by using the copying properties of pantograph mechanisms -- 6.1 Design of balancing mechanisms for spatial parallel manipulators: application to the Delta robot -- 6.2 Design of self-balanced parallel manipulators: PAMINSA with four dof -- 6.3 Design and balancing of hand-operated manipulators -- 7 Shaking force and shaking moment balancing of robot manipulators -- 7.1 Complete shaking force and shaking moment balancing of 3-dof 3-RRR parallel manipulators -- 7.2 Complete shaking force and shaking moment balancing of planar parallel manipulators with prismatic pairs -- 7.3 Shaking force minimization of high-speed robots via centre of mass acceleration control -- 7.4 Balancing of robot manipulators via optimal motion control -- 8 Gravitational force balancing of robotic systems -- 8.1 Balancing of pantograph mechanisms -- 8.2 Optimal balancing of the parallel robot for medical 3D-ultrasound imagining -- 8.3 Improvement of balancing accuracy of robot-manipulators taking into account the spring mass -- 8.4 Optimal balancing of serial manipulators with decoupled dynamics -- References. 330 $aIn this book advanced balancing methods for planar and spatial linkages, hand operated and automatic robot manipulators are presented. It is organized into three main parts and eight chapters. The main parts are the introduction to balancing, the balancing of linkages and the balancing of robot manipulators. The review of state-of-the-art literature including more than 500 references discloses particularities of shaking force/moment balancing and gravity compensation methods. Then new methods for balancing of linkages are considered. Methods provided in the second part of the book deal with the partial and complete shaking force/moment balancing of various linkages. A new field for balancing methods applications is the design of mechanical systems for fast manipulation. Special attention is given to the shaking force/moment balancing of robot manipulators. Gravity balancing methods are also discussed. The suggested balancing methods are illustrated by numerous examples. 410 0$aMechanisms and Machine Science,$x2211-0984 ;$v27 606 $aMachinery 606 $aControl engineering 606 $aRobotics 606 $aMechatronics 606 $aVibration 606 $aDynamical systems 606 $aDynamics 606 $aMachinery and Machine Elements$3https://scigraph.springernature.com/ontologies/product-market-codes/T17039 606 $aControl, Robotics, Mechatronics$3https://scigraph.springernature.com/ontologies/product-market-codes/T19000 606 $aVibration, Dynamical Systems, Control$3https://scigraph.springernature.com/ontologies/product-market-codes/T15036 615 0$aMachinery. 615 0$aControl engineering. 615 0$aRobotics. 615 0$aMechatronics. 615 0$aVibration. 615 0$aDynamical systems. 615 0$aDynamics. 615 14$aMachinery and Machine Elements. 615 24$aControl, Robotics, Mechatronics. 615 24$aVibration, Dynamical Systems, Control. 676 $a620 676 $a621.8 676 $a629.8 700 $aArakelian$b Vigen$4aut$4http://id.loc.gov/vocabulary/relators/aut$0720815 702 $aBriot$b Sébastien$4aut$4http://id.loc.gov/vocabulary/relators/aut 906 $aBOOK 912 $a9910299849103321 996 $aBalancing of Linkages and Robot Manipulators$92540264 997 $aUNINA