When parallel manipulators move, due to the fact that the center of mass (CoM) of the system is not fixed and its angular momentum is not constant, vibration is usually produced in the system, which greatly affects the accuracy performance. Dynamic balance can be achieved by using counterweights and counter-rotations, but the whole system will become heavier and have more inertia. Here we try to achieve dynamic balance not by using counterweights or damping, but through designing naturally dynamic balanced mechanisms to achieve the goal. This can be done, for example, by the reconfiguration method that we proposed. After designing a dynamic balanced leg, legs are combined to synthesize parallel mechanisms. Finally spatial dynamic balanced grasper mechanism is proposed.

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