DISCUSSION AND ANALYSIS OF MAIN DYNAMIC BALANCING METHODS FOR ROBOTIC MANIPULATORS

Vibration reduction in robotic manufacturing industries has been a vital issue since the last decade. Some of the vibrations are caused by a dynamic unbalanced condition. The dynamic balancing solution has become one of the most effective ways to reduce vibration and improve overall accuracy of the system. In this paper, dynamic balancing methods and the development of robotic mechanisms are reviewed and analyzed in detail. Dynamic balancing methodology is generally divided into two main categories: balancing prior to kinematic synthesis and balancing after the design process. Each of the balancing methods in the above two categories are illustrated. The advantages and disadvantages of each method are presented and compared. This paper will provide an informative guideline for future research in the direction of dynamic balancing of robotic mechanisms.