A reactionless mechanism is one that does not exert any reaction force or moment on its base at all times, for any arbitrary trajectory of the mechanism. This paper addresses the static and dynamic balancing of a two-degree-of-freedom parallel planar mechanism (five-bar mechanism). A simple and effective adaptive balancing method is presented that allows the mechanism to maintain the reactionless condition for a range of payloads. Important proofs concerning the balancing of five-bar mechanisms are also presented. The design of a real mechanism where parallelogram linkages are used to produce pure translations at the end-effector is also presented. Finally, using dynamic simulation software, it is shown that the mechanism is reactionless for arbitrarily chosen trajectories and for a variety of payloads.
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e-mail: alexandre.lecours.1@ulaval.ca
e-mail: gosselin@gmc.ulaval.ca
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November 2010
Research Papers
Reactionless Two-Degree-of-Freedom Planar Parallel Mechanism With Variable Payload
Alexandre Lecours,
Alexandre Lecours
Département de Génie Mécanique,
e-mail: alexandre.lecours.1@ulaval.ca
Université Laval
, Québec, QC, G1V 0A6, Canada
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Clément Gosselin
Clément Gosselin
Département de Génie Mécanique,
e-mail: gosselin@gmc.ulaval.ca
Université Laval
, Québec, QC, G1V 0A6, Canada
Search for other works by this author on:
Alexandre Lecours
Département de Génie Mécanique,
Université Laval
, Québec, QC, G1V 0A6, Canadae-mail: alexandre.lecours.1@ulaval.ca
Clément Gosselin
Département de Génie Mécanique,
Université Laval
, Québec, QC, G1V 0A6, Canadae-mail: gosselin@gmc.ulaval.ca
J. Mechanisms Robotics. Nov 2010, 2(4): 041010 (7 pages)
Published Online: September 30, 2010
Article history
Received:
May 8, 2009
Revised:
August 10, 2010
Online:
September 30, 2010
Published:
September 30, 2010
Citation
Lecours, A., and Gosselin, C. (September 30, 2010). "Reactionless Two-Degree-of-Freedom Planar Parallel Mechanism With Variable Payload." ASME. J. Mechanisms Robotics. November 2010; 2(4): 041010. https://doi.org/10.1115/1.4002388
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