Dynamic balancing of robotic mechanisms via reconfiguration and integration design

During the process of mechanisms movement, due to the fact that the centre of mass is changing and angular momentum is not constant, vibration is therefore generated. Dynamic balancing is often achieved by resorting to extra devices, but the problem is that the system can be much heavier if extra devices are used. Achieving dynamic balancing through reconfiguration method is proposed. After designing naturally dynamically balanced single legs, the legs can be synthesized to construct the entire robotic mechanism. Finally, experiments are conducted to verify the proposed approach.