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Dynamics Analysis of A Three-DOF Planar Serial-Parallel Mechanism For Active Dynamic Balancing With Respect To A Given Trajectory
Dynamics Analysis of A Three-DOF Planar Serial-Parallel Mechanism For Active Dynamic Balancing With Respect To A Given Trajectory
Kun Wang1,2,3, Minzhou Luo1,3,*, Tao Mei1,2,3, Jianghai Zhao3 and Yi Cao4
1 School of Information Science and Technology, University of Science and Technology of China, Hefei, Anhui Province, China
2 Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, Anhui Province, China
3 Institute of Advanced Manufacturing Technology, Hefei Institute of Physical Science, Chinese Academy of Sciences, Changzhou, Jiangsu
Province, China
4 School of Mechanical Engineering, Jiangnan University, Wuxi, Jiangsu Province, China
* Corresponding author E-mail: lmz@iim.ac.cn
Received 7 May 2012; Accepted 9 Oct 2012
DOI: 10.5772/54201
© 2013 Wang et al.; licensee InTech. This is an open access article distributed under the terms of the Creative
Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use,
distribution, and reproduction in any medium, provided the original work is properly cited.
Abstract The concept of dynamic balancing with respect Keywords Active Dynamic Balancing, Trajectory‐based
to a given trajectory is proposed in this paper. Trajectory‐ Dynamic Balancing, Planar Parallel Mechanism, Hybrid
based dynamic balancing is a technique that brings Mechanism
additional mechanisms to unbalanced mechanisms with
the purpose of actuating the original mechanism to move
along a predefined trajectory, regardless of the shaking 1. Introduction
forces and moments. In this work, a planar three degrees
of freedom (3‐DOF) serial‐parallel mechanism is In engineering practices, the actuation forces and
proposed to implement this technique on an unbalanced moments of machines are prone to be influenced by the
platform. The overall structure of the system is firstly shaking forces and shaking moments, resulting in
introduced and the mechanical design and kinematics of perturbations of the motions of the moving parts.
the proposed mechanism is then presented. The dynamic Furthermore, shaking forces and moments also cause
model of the mechanism and the platform is derived and fatigue, vibrations, noise disturbances, etc., thus
analysed. Finally, numerical examples are presented to undermining the control precision [1]. Therefore, many
verify the effectiveness of the active dynamic balancing balancing mechanisms with low additions of mass, inertia
mechanism and the improved dynamic performance of and complexity have been proposed to counterbalance
the system. the shaking forces and moments [2‐9].
3. Design and Kinematics of the ADBM where the position is measured with respect to the
moving reference frame attached to the platform, whose
As discussed in the last section, the platform is influenced
origin is fixed at point O. �� is the position of the mass of
by the shaking forces and moments. The shaking forces
gravity of the disc and the links. Suppose �� is defined
could be eliminated by adding a counter‐mass. Similarly,
as: �� � ��� , �� �� .
the shaking moments can be moment‐balanced by a
single actively driven counter‐rotating element [23].
The position of the centre of gravity (c.g.) of the disc
Therefore, a counter‐rotary counter‐mass (CRCM)
could be expressed as follows:
mechanism is adopted in the design of the ADBM. As
illustrated in Figure 2, the ADBM is composed of a � �
��� � � � ��� � �� �� � �� � (4)
CRCM which is mounted on a planar two‐branch‐ �
prismatic‐revolute‐revolute (2‐PRR) parallel mechanism. � �
��� � �� � ��� � �� �� � �� � (5)
� � � �� �
�� � ���� � �� . �� � � , ��� � �� �.
��
� �� � (6)
�
and
� � � �� �
�� � ���� � �� . �� � � , ��� � �� �.
��
� �� � (7)
�
Figure 2. Kinematic configuration of the ADBM
Now the positions of the disk and links are determined
The CRCM is designed as a disc which rotates by the input variables �� and �� . Then the position of the
perpendicular to the xy‐plane and is fixed on the end‐ centre of the net mass of the ADBM and the net inertia of
effector of the planar 2‐PRR parallel mechanism. The 2‐ moment can also be obtained through Eq. (3) and Eq. (2).
www.intechopen.com Kun Wang, Minzhou Luo, Tao Mei, Jianghai Zhao and Yi Cao: Dynamics Analysis of a Three-DOF Planar 3
Serial-Parallel Mechanism for Active Dynamic Balancing with Respect to a Given Trajectory
∑� �
4. Dynamics Analysis � �� ���
���
� ��� �� ���
(11)
�� ��
� (13)
��� � ��� � �� � ��� � ���
where ��� and ��� are the actuation force and moment
that the ADBM exerts on the platform. ��� and ���
denote the mass and moment of inertia of the
platform. ���� and ���� represent the linear acceleration
and angular acceleration of the platform with respect to
the ground. Additionally, �� and �� are the net shaking
forces and moments exerted by individual rotating
elements as introduced in Eq. (8) and (9). Similarly, the
Figure 3. Forces and moments acting on the machine Newton‐Euler equations for the ADBM are:
The trajectories of the platform
Motion in X‐direction (m) Motion in Y‐direction (m) Orientation (rad)
Case A ux=0 uy=0 =0
Case B ux=0.05cos(2t) uy=0.02sin(2t) =sin(2t)
Case C ux=0.05cos(2t) uy=0.02sin(2t) =sin(2t)
Table 2. Three cases of predefined trajectories of the platform
In all cases, the design values of the mass and moment of be equivalent: l1= l2=0.2m. It is also assumed that the
inertia of the platform are chosen as: Mpl=4.0 kg, Ipl=0.006 distance between the two sliding tracks of the prismatic
kg.m2. As for the ADBM, because the mass of the links joints h=0.3m.
and their inertia of moment are negligible, its mass and
moment of inertia are assumed to be equal to that of the The simulations consist of two parts. Firstly, the platform
disc, namely: MAM =M1=2.5 kg, IAM =1/2M1r12=0.003125 of the mechanism is supposed to be subjected to the
kg.m2. Besides, in order to simplify the inverse external shaking forces and shaking moments as shown
kinematics, the lengths of the two links are supposed to in Table 2. Simultaneously, the mechanism is actuated to
www.intechopen.com Kun Wang, Minzhou Luo, Tao Mei, Jianghai Zhao and Yi Cao: Dynamics Analysis of a Three-DOF Planar 5
Serial-Parallel Mechanism for Active Dynamic Balancing with Respect to a Given Trajectory
track the prescribed trajectory as shown in Table 1. The acceleration of the disc of the ADBM; then the actual force
control variables of the ADBM are calculated to and moment applied by the ADBM on the base of the
demonstrate the practical applicability of this mechanical platform are computed. These actual forces and moments
device. Secondly, the computed control variables are used are then compared with those computed desired forces
to calculate the actual linear acceleration and angular and moments in order to validate the model.
(a) The actual displacements of two prismatic joints under Case A. (A) The orientation angle of the disc under Case A.
(b) The actual displacements of two prismatic joints under Case B. (B) The orientation angle of the disc under Case B.
(c) The actual displacements of two prismatic joints under Case C. (C) The orientation angle of the disc under Case C.
Figure 4. Displacements of the two prismatic joints and orientation angle of the rotary disc of the ADBM. Case A: dynamic balancing
with respect to equilibrium, Case B: dynamic balancing with respect to given trajectories, Case C: dynamic balancing with respect to
given trajectories when disturbances are involved into the shaking forces and shaking moments.
(a) (b) (c)
Figure 5. The actual translational acceleration and rotational acceleration of the ADBM under three different cases A, B and C. Ax
presents the translational acceleration of disc of the ADBM in x‐direction with respect to the inertial frame, Ay presents the translational
acceleration of disc of the ADBM in y‐direction with respect to the inertial frame, Az denotes the rotational acceleration of disc of the
ADBM. (a) The actual accelerations of the ADBM under Case A. (b) The actual accelerations of the ADBM under Case B. (c) The actual
accelerations of the ADBM under Case C.
www.intechopen.com Kun Wang, Minzhou Luo, Tao Mei, Jianghai Zhao and Yi Cao: Dynamics Analysis of a Three-DOF Planar 7
Serial-Parallel Mechanism for Active Dynamic Balancing with Respect to a Given Trajectory
(a). The actual forces and actual moments produced by the ADBM as well as the desired actuate forces and moments under Case A.
(b). The actual forces and actual moments produced by the ADBM as well as the desired actuate forces and moments under Case B.
(c). The actual forces and actual moments produced by the ADBM as well as the desired actuate forces and moments under Case C.
Figure 6. The actual and desired forces and moments applied by the ADBM on the platform under three different cases A, B and C. Famx,
Famy and Mam respectively present the actual force in x‐direction, the actual force in y‐direction and the actual moment produced by the
ADBM. In addition, Fsy, Fsx and Ms in Case A respectively present the shaking forces and shaking moment applied on the base of the
platform. In Case B and Case C, there are: Fx=Fsx+Mpf.ݑሷ ௫ , Fy=Fsy+Mpf.ݑሷ ௬ , M=Ms+Ipf.ሷ.Fsy, Fsx and Ms respectively present the shaking force
and the shaking moment, while Mpf.ݑሷ ௫ , Mpf.ݑሷ ௬ and Ipf.ሷ denote the desired actuate forces and actuate moment which are used to actuate
the platform to track the given trajectories.
www.intechopen.com Kun Wang, Minzhou Luo, Tao Mei, Jianghai Zhao and Yi Cao: Dynamics Analysis of a Three-DOF Planar 9
Serial-Parallel Mechanism for Active Dynamic Balancing with Respect to a Given Trajectory
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