This paper systematically presents an effective algorithm for the dynamic balancing of multi-degree-of-freedom parallel mechanisms with multiple legs and the dynamic equivalence between point masses and arbitrary moving platforms. The mass and inertia of the moving platform are replaced by point masses located at the points of attachment of the legs to the platform and the mechanisms are balanced by considering each of the legs independently. The validity and feasibility of this algorithm is first verified both theoretically and using numerical simulations in ADAMS. Two, three and four point masses are respectively discussed for different cases. Finally, some reactionless planar and spatial multi-degree-of-freedom parallel mechanisms synthesized based on this algorithm are given.

This content is only available via PDF.
You do not currently have access to this content.