Complete Shaking Force and Shaking Moment Balancing of the Position-Orientation Decoupled PAMINSA Manipulator

Sébastien Briot (1) , Vigen Arakelian (2)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 DGMA - Département de Génie Mécanique et Automatique

This paper deals with the complete shaking force and shaking moment balancing of the position-orientation decoupled PAMINSA manipulator. The dynamic reaction forces on the manipulator's base are eliminated by making the total mass center of the moving links stationary. The reaction moments on the frame are eliminated by optimal control of the end-effector, which rotates with prescribed velocity. The numerical simulations carried out using ADAMS software demonstrate that the balanced manipulators transmit no inertia loads to their bases.

Domaines: Génie mécanique [physics.class-ph]; Génie mécanique [physics.class-ph]

Sébastien Briot, Vigen Arakelian. Complete Shaking Force and Shaking Moment Balancing of the Position-Orientation Decoupled PAMINSA Manipulator. IEEE/ ASME International Conference on Advanced Intelligent Mechatronics (AIM2009), Jul 2009, Singapour, Singapore. ⟨hal-00451899⟩