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https://open.uns.ac.rs/handle/123456789/13531| Title: | Dynamic analysis of balanced robot mechanisms | Authors: | Kolarski M. Vukobratović M. Borovac, Branislav |
Issue Date: | 1-Jan-1994 | Journal: | Mechanism and Machine Theory | Abstract: | A comparison of dynamic behaviour of the unbalanced and balanced robot mechanisms is carried out. Two various ways of balancing are considered: balancing by masses (by adding counterweights and by link mass redistribution) and balancing by springs. Dynamic behaviour of the robot is studied on the basis of its motion simulation. A simple open kinematic chain structure ("PUMA" configuration), is used as a basic mechanism. Some comparisons are made with a mechanism of closed loop structure ("ASEA" mechanism). © 1994. | URI: | https://open.uns.ac.rs/handle/123456789/13531 | ISSN: | 0094114X | DOI: | 10.1016/0094-114X(94)90128-7 |
| Appears in Collections: | FTN Publikacije/Publications |
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