Gravity compensation of a 6-UPS parallel kinematics machine tool through elastically balanced constant-force generators

FME Transactions

Martini Alberto¹ 

[1] Alma Mater Studiorum University of Bologna, Department of Industrial Engineering, Italy;

关键词: static balancing;    gravity compensation;    elastic compensation;    constant-force generator;    parallel kinematics machine;    5-axis machine tool;   

DOI  :  

来源: DOAJ

【 摘 要 】

Gravity compensation is a viable strategy to improve the performance of manipulators, particularly in terms of power consumption. This work studies the static balancing of a prototypal 5-axis parallel kinematics machine tool with UPS-legs. Exact gravity compensation is achieved by turning the legs into constant-force generators, through tension springs. A numerical multibody model is implemented and simulated within a commercial software environment (MSC Adams™) to assess the effectiveness of the proposed balancing strategy.

【 授权许可】

Unknown