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Motion Constraints and Trajectory Planning of a Planar Active Dynamic Balancing Mechanism

Author

Listed:
  • Kun Wang
  • Ke Li
  • Peng Chen
  • Qiuju Zhang
  • Yi Cao

Abstract

We propose a new solution to the active balancing issue under mechanical structural constraint. A dynamic model of the 3-DOF active balancer is established considering the limitations of the mechanical construction due to the lengths of the sliding rails. A methodology for the collision-avoidance trajectory planning is presented in addition to the normal trajectory planning to design the collision-free active balancing strategy. Numerical examples are presented to illustrate the effect of the parameter constrains as well as verify the effectiveness and necessity of trajectory planning.

Suggested Citation

  • Kun Wang & Ke Li & Peng Chen & Qiuju Zhang & Yi Cao, 2015. "Motion Constraints and Trajectory Planning of a Planar Active Dynamic Balancing Mechanism," Mathematical Problems in Engineering, Hindawi, vol. 2015, pages 1-11, September.
    • Handle: RePEc:hin:jnlmpe:496258
    DOI: 10.1155/2015/496258
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