On the Dynamic Balancing of Multi-DOF Parallel Mechanisms With Multiple Legs

Abstract

This paper addresses the dynamic balancing of multi-degree-of-freedom (multi-DOF) parallel mechanisms with multiple legs using the dynamic equivalence between point masses and arbitrary moving platforms. In this technique, proposed elsewhere, the mass and inertia of the moving platform are dynamically replaced by point masses located at the points of attachment of the legs to the platform and the mechanisms are balanced by considering each of the legs independently. In this paper, two, three, and four point masses are respectively discussed for different cases. Finally, some physical interpretations are given.