A type of global constant balance parallel mechanism which is consisted by inter-outer layer parallel mechanism is proposed. The global constant balance performance of this kind of parallel mechanism can be achieved by just keeping the magnitude and direction of input force of inner balance mechanism because its Jacobian matrix is constant. Based on the influence coefficient method, the dynamics model of this kind of mechanism is established. With 3-PUU/3-PRRR parallel mechanism taken as an example, the advantages of 3-PRRR parallel mechanism as balance mechanism have been proved by compared with counterweight law. It is proved that the global constant balance parallel mechanism has excellent balance performance.
LIU Wei
,
ZHAO Yanzhi
,
LIANG Bowen
,
BIAN Hui
,
YANG Wei
,
ZHAO Tieshi
. Design of Global Constant Balance Parallel Mechanism and Its Balance Performance Analysis[J]. Journal of Mechanical Engineering, 2019
, 55(1)
: 25
-31
.
DOI: 10.3901/JME.2019.01.025
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