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On the Design of Planar Reactionless Parallel Mechanisms

[+] Author Affiliations
Abbas Fattah, Sunil K. Agrawal

University of Delaware, Newark, DE

Paper No. DETC2004-57293, pp. 755-762; 8 pages
doi:10.1115/DETC2004-57293
From:
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME

abstract

A reactionless machine will not apply reaction forces and moments on the mounting base during motion. This article presents the theory for design of a reactionless planar parallel mechanism. The salient features of this design are: (i) it uses auxiliary parallelograms to locate the center of mass of each leg at the base, (ii) choice of geometric and inertial parameters to satisfy the recationless conditions, (iii) selection of trajectory to achieve a reactionless design. We illustrate the reactionless feature of such a mechanism through computer simulations.

Copyright © 2004 by ASME

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