Reactionless system design through decomposition and integration concept for green manufacturing

When mechanisms move, because the position of the center of mass (CoM) is changing and also the angular momentum is changing, there is vibration within the system, this can degrade the accuracy performance when the system is used in space. Dynamic balance can be applied to address the above problem. Normally, dynamic balancing is accomplished through employing counter-masses or counter-rotations approach. The potential issue is that the more weight and inertia are included inside the system, which is not cost-effective. Here the authors suggest that one can accomplish dynamic balancing condition based on employing the naturally dynamically balanced mechanisms rather than resorting to the old counterweights approaches. For instance, one can accomplish the reactionless condition based on the reconfiguration concept. One does not employ counter-mass but via reconfiguring the system by shifting the linkage, which does not make the system get to be heavy and therefore, reduce the energy costs and achieve green manufacturing. On the basis of this concept, firstly dynamically balance a single limb based on the reconfiguration technique (decomposition) and then integrate the balanced limbs to construct the entire parallel manipulator (integration); i.e. the decomposition and integration concept. Finally, with the mechanical reconfiguration, the control laws governing the operation of the mechanism also need to be changed.