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A Hybrid Approach to Force Balancing of Robotic Mechanisms

[+] Author Affiliations
J. Huang

East China University of Science and Technology, Beijing, P.R. China

P. R. Ouyang

Ryerson University, Toronto, ON, Canada

L. Cheng

Chinese Academy of Sciences, Beijing, P.R. China

W. J. Zhang

University of Saskatchewan, Saskatoon, SK, Canada

Paper No. IMECE2010-39934, pp. 735-744; 10 pages
  • ASME 2010 International Mechanical Engineering Congress and Exposition
  • Volume 8: Dynamic Systems and Control, Parts A and B
  • Vancouver, British Columbia, Canada, November 12–18, 2010
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4445-8
  • Copyright © 2010 by ASME


A hybrid approach to force balancing of robotic mechanisms which have at least two degrees of freedom is proposed. This hybrid approach is to combine adjusting kinematic parameters (AKP) and counterweights (CW) approaches, and it is called AKP+CW in short. The main motivation of the AKP+CW approach is that CW and AKP each has its own advantage and disadvantage, and thus a combined one may strengthen the both. This paper presents the force balancing principles and equations for the AKP+CW approach. Software called ADAMS is employed as a tool for the simulated experiment to verify the effectiveness of the proposed approach. The implication of the work described in this paper to the balancing of mechanisms in general is that many different force balancing methods may be combined based on the hybridization principle proposed in this paper to become a novel one.

Copyright © 2010 by ASME
Topics: Force , Robotics , Mechanisms



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