In-Balance: Inherent dynamic balancing for fast and accurate manipulators, STW-HTSM 12848.

Cycle time reduction of commercial robots require faster robots without compromising the accuracy. Higher velocities and acceleration also increases the reaction force and moments at the base which in turn lead to undesired base vibrations. These vibrations reduce the accuracy of the end-effector and therefore require waiting times to let the vibrations dampen out. Dynamic balancing aims to distribute the mass of the mechanism such that these shaking forces and moments are eliminated. Considering dynamic balance at the beginning of the design process and the use of parallel mechanisms can reduce the complexity and added inertia of the balancing solution.