Abstract
Articulated wheeled vehicles (AWVs) offer superior uneven terrain traversal capabilities by virtue of the superior reconfigurability within their articulated structure. However, this capability can be realized only at the price of increased actuation-based equilibration, oftentimes solely to support the gravitational loading. Hence, the simultaneous reduction of the overall actuation remains one of the critical challenges in such AWVs.
In this chapter, we address the static balancing of six degree-of-freedom AWVs with multiple leg-wheel subsystem. Static balancing is defined as a set of conditions on dimensional and inertial parameters of articulated vehicle components which ensure that the weight of the links and platform does not produce any torque/force at the actuators for any configuration of vehicle. In this study, elastic elements such as springs are employed in conjunction with parallelogram linkages to achieve the static balancing. The underlying principle is to realize an overall articulated system whose total potential energy including the elastic potential energy stored in springs and gravitational potential energy becomes constant.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Alamdari, A., Krovi, V.: Active reconfiguration for performance enhancement in articulated wheeled vehicles. In: ASME Dynamic Systems Controls Conference, San Antonio, 22–24 October 2014
Alamdari, A., Zhou, X., Krovi, V.: Kinematic modeling, analysis and control of highly reconfigurable articulated wheeled vehicles. In: Proceedings of the ASME 2013 International Design Engineering Technical Conferences and Computers in Engineering Conference, ASME IDETC/CIE 2013, Portland, 4–7 August 2013
Alamdari, A., Sovizi, J., Jun, S. K., Krovi, V.: Kinetostatic optimization for an adjustable four-bar based articulated leg-wheel subsystem. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, 14–18 September 2014
Bidarvatan, M., Shahbakhti, M.: Integrated HCCI engine control based on a performance index. In: ASME 2013 Internal Combustion Engine Division Fall Technical Conference, pp. V001T05A007–V001T05A007 (2013)
Laliberte, T., Gosselin, C., Jean, M.: Static balancing of 3-DOF planar parallel mechanisms. IEEE/ASME Trans. Mechatron. 4(4), 363–377 (1999)
Alamdari, A., Krovi, V.: Parallel articulated-cable exercise robot (PACER): novel home-based cable-driven parallel platform robot for upper limb neuro-rehabilitation. In: Proceedings of the ASME 2015 International Design Engineering Technical Conferences and Computers in Engineering Conference, Boston, 2–5 August 2015
Gosselin, C., Wang, J.: Static balancing of spatial six-degree-of-freedom parallel mechanisms with revolute actuators. J. Rob. Syst. 17(3), 159–170 (2000)
Lessard, S., Bigras, P., Bonev, I.: A new medical parallel robot and its static balancing optimization. Trans. ASME J. Med. Dev. 1, 272–278 (2007)
Ulrich, N., Kumar, V.: Passive mechanical gravity compensation for robot manipulators. In: Proceeding of the 1991 IEEE International Conference on Robotics and Automation, pp. 1536–1541 (1991)
Herder, J.L.: Energy-free systems. Theory, conception and design of statically balanced mechanisms. Ph.D thesis, Delft University of Technology, Delft (2001)
Shin, E., Streit, D.A.: Spring equilibrator theory for static balancing of planar pantograph linkages. Mech. Mach. Theory 26(7), 645–657 (1991)
Fattah, A., Agrawal, S.K.: On the design of a passive orthosis to gravity balance human legs. ASME J. Mech. Des. 127(4), 802–808 (2005)
Ebert-Uphoff, I., Gosselin, C.M., Laliberte, T.: Static balancing of spatial parallel platform mechanisms-revisited. ASME J. Mech. Des. 122(1), 43–51 (2000)
Jean, M., Gosselin, C.M.: Static balancing of planar parallel manipulators. In: IEEE International Conference on Robotics and Automation, Minneapolis, pp. 3732–3737 (1996)
Simionescu, I., Ciupitu, L.: Static balancing of the industrial robot arms. Part I: discrete balancing. Mech. Mach. Theory 35(9), 1287–1298 (2002)
Russo, A., Sinatra, R., Xi, F.: Static balancing of parallel robots. Mech. Mach. Theory 40(2), 191–202 (2005)
Lee, Y.Y., Chen, D.Z.: Determination of spring installation configuration on statically balanced planar articulated manipulators. Mech. Mach. Theory 74, 319–336 ()2014
Lin, P., Shieh, W., Chen, D.: A theoretical study of weight-balanced mechanisms for design of spring assistive mobile arm support (MAS). Mech. Mach. Theory 61, 156–167 (2013)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Alamdari, A., Krovi, V. (2016). Static Balancing of Articulated Wheeled Vehicles by Parallelogram- and Spring-Based Compensation. In: Zhang, D., Wei, B. (eds) Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots. Springer, Cham. https://doi.org/10.1007/978-3-319-17683-3_20
Download citation
DOI: https://doi.org/10.1007/978-3-319-17683-3_20
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-17682-6
Online ISBN: 978-3-319-17683-3
eBook Packages: EngineeringEngineering (R0)