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Force Balance Conditions of Complex Parallel Mechanisms with Mass Equivalent Modeling

机译：压力平衡复杂的并联机制的平衡条件，具有质量等效建模

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摘要

A shaking force balanced mechanism is a mechanism that does not exert dynamic reaction forces to its base and to its surrounding for any motion. For mobile mechanisms such as exoskeletons, humanoid robots, drones, and anthropomorphic hands force balance is an important property for, among others, their dynamic behavior, stability, safety, control, and low energy consumption. For the design of force balanced mechanisms with multiple closed loops it can be a significant challenge to obtain the balance conditions, especially when the mechanism consists of closed loops that depend on other closed loops. In this paper it is shown how with mass equivalent modeling the force balance conditions can be derived of a complex multi-degree-of-freedom parallel mechanism with multiple closed loops of which one or more depend on other closed loops. It is shown how such a mechanism can be divided in mass equivalent linkages such as mass equivalent dyads and mass equivalent tri-ads for which each can be analyzed individually with principal vectors and linear momentum equations.
机译：摇动力平衡机构是一种机构，不会将动态反应力施加到其基部并以其周围的任何运动。对于诸如外骨骼的移动机制，人形机器人，无人机和拟人手力平衡是它们的重要性，其动态行为，稳定性，安全性，控制和低能量消耗。为了设计具有多个闭合循环的力平衡机制，可以是获得平衡条件的重大挑战，特别是当机制包括依赖于其他闭环的闭环。在本文中，示出了如何与质量等效建模的方式，力平衡条件可以通过具有多个封闭环的复杂多程度的自由度并行机制，其中一个或多个取决于其他闭合环。示出了如何在质量等效的联动中分开这种机制，例如质量等效的二元和质量等效三广告，每个TRI-AD可以用主要矢量分别分析和线性动量方程。

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