This article deals with the complete shaking force and shaking moment balancing of planar parallel manipulators with prismatic pairs. The cancellation of dynamic loads transmitted to the ground is a challenge for these types of manipulators.
It is obvious that the classical methods based on the optimal redistribution of movable masses and additional counter-rotations can be used to cancel shaking force and shaking moment. However, balancing of parallel manipulators with prismatic pairs is attained via a considerably complicated design. This article shows that it is possible to balance planar parallel mechanisms by using Scott—Russell mechanisms. Such an approach enables counter-rotations to be divided by 2. Numerical simulations carried out using ADAMS software validate the obtained results and illustrate that the suggested balancing enables to create a parallel manipulator transmitting no inertial load to its base.
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