On the design of reactionless 3-DOF planar parallel mechanisms (Q2581743)

The paper provides the design and theory for a reactionless planar parallel mechanism. In most research the dynamic balancing of mechanisms is attained by a proper choice of geometric and inertial parameters or by a proper choice of motion trajectories. Here the authors use auxiliary parallelograms to locate the center of mass of each leg at the base. Two approaches in which the total angular momentum of the system vanishes are considered: (i) through a proper choice of inertia and geometric parameters, (ii) using appropriate motion planning.