Analysis and Optimization for Balancing Mechanism of High-Speed & Heavy-Load Manipulators

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  • Xiao Yongfei
    Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology, Institute of Automation, Shandong Academy of Science
  • Bi Shuhui
    Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology, Institute of Automation, Shandong Academy of Science
  • Wang Xuelin
    Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology, Institute of Automation, Shandong Academy of Science
  • Li Xiangdong
    Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology, Institute of Automation, Shandong Academy of Science
  • Fan Xinjian
    Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology, Institute of Automation, Shandong Academy of Science

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<p>Heavy-load manipulators usually have a balance to minimize energy consumption and maximize payload capacity. Appropriate design parameters are important to balancing devices in improving performance. We propose evaluating optimal parameters to achieve the best possible manipulator motion features. A dynamic manipulator model with a parallel-link mechanism is analyzed using the Lagrange principal. We also propose a way to reduce nonlinear influence while improving payload capacity. The optimized method is used for instructing how to design and optimize heavy-load manipulators, as shown through simulation and experiments.</p>

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