An exhaustive state of the art on balancing with corresponding illustrations

Proposes the most advanced methods for balancing of linkages and robot manipulators

The book is of interest for both mechanical engineers and researchers

Includes supplementary material: [...]

Part I Introduction to balancing.- 1 Introduction.- 2 An overview of balancing methods.- 2.1 Shaking force and shaking moment balancing of linkages.- 2.2 Shaking force and shaking moment balancing of robots and manipulators.- 2.3 Gravity balancing in robotics.- Part II Balancing of Linkages.- 3 Partial shaking force and shaking moment balancing of linkages.- 3.1 Shaking moment minimization of fully force-balanced planar linkages by displacing one counterweight.- 3.2 Shaking moment minimization of fully force-balanced planar linkages by displacing several counterweights.- 3.3 Shaking moment minimization of fully force-balanced spatial linkages.- 3.4 An approximate method of calculating a counterweight for the optimum shaking force and shaking moment balancing of linkages.- 4 Complete shaking force and shaking moment balancing of linkages.- 4.1 Complete shaking force and shaking moment balancing of in-line four-bar linkages by adding a class-two RRR or RRP Assur group.- 4.2 Complete shaking force and shaking moment balancing of planar linkages by adding the articulated dyads.- 4.3 Complete shaking force and shaking moment balancing of RSS'R spatial linkages.- 4.4 Design of self-balanced mechanical systems.- 5 Balancing of slider-crank mechanisms.- 5.1 Generalized Lanchester balancer.- 5.2 Balancing via the properties of the Watt gear-slider mechanism.- 5.3 Shaking moment cancellation of self-balanced slider-crank mechanical systems by means of optimum mass redistribution.- 5.4 Simultaneous inertia force/moment balancing and torque compensation of slider-crank mechanisms.- 5.5 Shaking force and shaking moment balancing of slider-crank mechanisms via optimal generation of the input crank rotation.- Part III Balancing of Robot Manipulators.- 6 Balancing of manipulators by using the copying properties of pantograph mechanisms.- 6.1 Design of balancing mechanisms for spatial parallel manipulators: application to the Deltarobot.- 6.2 Design of self-balanced parallel manipulators: PAMINSA with four dof .- 6.3 Design and balancing of hand-operated manipulators.- 7 Shaking force and shaking moment balancing of robot manipulators.- 7.1 Complete shaking force and shaking moment balancing of 3-dof 3-RRR parallel manipulators.- 7.2 Complete shaking force and shaking moment balancing of planar parallel manipulators with prismatic pairs.- 7.3 Shaking force minimization of high-speed robots via centre of mass acceleration control.- 7.4 Balancing of robot manipulators via optimal motion control.- 8 Gravitational force balancing of robotic systems.- 8.1 Balancing of pantograph mechanisms.- 8.2 Optimal balancing of the parallel robot for medical 3D-ultrasound imagining.- 8.3 Improvement of balancing accuracy of robot-manipulators taking into account the spring mass.- 8.4 Optimal balancing of serial manipulators with decoupled dynamics.- References.