Complete shaking force and shaking moment balancing of planar parallel manipulators with prismatic pairs

International audienceThis paper deals with the complete shaking force and shaking moment balancing of planar parallel manipulators with prismatic pairs. The cancellation of the dynamic loads transmitted to the ground is a challenge for these types of manipulators. 2 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, such a balancing of parallel manipulators with prismatic pairs is only attained via a considerably complicated design. This paper shows that it is possible to balance planar parallel mechanisms using Scott-Russell mechanisms. Such an approach enables a division of the number of counter-rotations by two. Numerical simulations carried out using ADAMS software validate the obtained results and illustrate that the suggested balancing enables the creation of a parallel manipulator transmitting no inertia load to its base. Index terms-Shaking force, shaking moment, balancing, planar parallel robots with prismatic pairs