UTFacultiesETDepartmentsMS3Research ChairsPeoplePrevious PhD candidatesJan de JongIN-BALANCE: inherent dynamic balancing for fast and accurate manipulators

IN-BALANCE: INHERENT DYNAMIC BALANCING FOR FAST AND ACCURATE MANIPULATORS

RESEARCH GROUP

PROJECT TERM

PROJECT PARTNERS

FUNDING

KEYWORDS

Manipulator, Robot, Pick and Place, Semiconductor Back-End, Packaging, Dynamic Balance, High Performance, Vibration reduction, Reduced cycle time.

PROJECT BACKGROUND

The objective of this project is to develop a new method for dynamic balancing. State of the art techniques apply balancing elements to pre-existing manipulators. This leads to increase of mass and inertia. In contrast, we propose a method that we call “inherent balancing” where dynamic balance forms the starting point of the design based on which suitable manipulator architectures are synthesized. The proposed method is based on constant linear and angular momentum in combination with kinematic loop closure equations, which has demonstrated to simplify the treatment and make it more insightful. Parallel kinematic architectures with properties of similarity will form the starting point of the synthesis method. A geometrically supported algebraic method for determining dynamic equivalence will be developed for moment balancing to aid the designer to conceive suitable architectures in a systematic fashion. Project results will include a theoretical foundation, a synthesis method and a sequence of physical demonstrators. Preliminary results are very promising and raised great industrial and academic interest.

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