Balancing of Linkages and Robot Manipulators

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