基于五杆机构的力平衡机械臂，显著降低关节扭矩与反作用力。
Forbal: Force Balanced 2-5 Degree of Freedom Robot Manipulator Built from a Five Bar Linkage
- 采用闭链五杆结构实现力平衡设计，兼顾工作空间与动态性能。
- 力平衡后关节扭矩平均降低79%~84%，反作用力矩减少66%。
- 适合对精度要求高的场景，如毫米级定位任务。
基于闭环平面五杆连杆机构，提出一种力平衡机械臂设计，并进行实验验证。设计了两种变体：Forbal-2（平面2自由度）及其扩展版Forbal-5（实现空间5自由度运动）。从几何、运动学和动力学角度讨论了满足力平衡条件的同时最大化工作空间的设计考量，并基于几何原理推导了两者的逆运动学解。通过与配重平衡及未平衡配置的对比实验验证了力平衡效果：对于Forbal-2，平均反作用力矩降低66%，平均关节扭矩减少79%，位置误差明显减小；Forbal-5因末端负载更大，其关节扭矩最高可降低84%。实验表明，该力平衡设计适用于对关节扭矩与反作用力/力矩敏感、需达到毫米级精度的应用场景。
原文摘要 · Abstract (English)
A force balanced manipulator design based on the closed chain planar five bar linkage is developed and experimentally validated. We present 2 variants as a modular design: Forbal-2, a planar 2-DOF manipulator, and its extension to 5-DOF spatial motion called Forbal-5. The design considerations in terms of geometric, kinematic, and dynamic design that fulfill the force balance conditions while maximizing workspace are discussed. Then, the inverse kinematics of both variants are derived from geometric principles. We validate the improvements from force balancing the manipulator through comparative experiments with counter mass balanced and unbalanced configurations. The results show how the balanced configuration yields a reduction in the average reaction moments of up to 66%, a reduction of average joint torques of up to 79%, as well as a noticeable reduction in position error for Forbal-2. For Forbal-5, which has a higher end effector payload mass, the joint torques are reduced up to 84% for the balanced configuration. Experimental results validate that the balanced manipulator design is suitable for applications where the reduction of joint torques and reaction forces/moments helps achieve millimeter level precision.
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