Complete Dynamic Shaking Force Balancing of a 3(RPSP)-S Spherical Parallel Robot Using Extra Linkage

In this paper, an approach for reducing the shaking force of a spherical parallel robot using extra mechanisms is proposed. The proposed method vanishes the Coriolis acceleration terms due to moving the slider links on each branch from force balancing equation. For this purpose, two links are added to each branch of the manipulator as an extra linkage mechanism. Next, three weights are added to each branch of the robot for reducing the applied shaking forces on the base platform. Finally, the dynamic numerical simulations is performed using ADAMS software. The results show a reduction in the applied shaking forces on the base as much as 98%, 79% and 99.4% along the X, Y and Z axes, respectively