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

Abstract EN

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.