Optimization for the Balancing Cylinder of a 3-DOF Planar Manipulator

3-DOF planar manipulator is used for loading and unloading materials and as a accessory for machine tool. A new approach is presented for design and optimization for the balancing cylinder. The working environment of the manipulator is introduced and according to the loading and unloading working processes, path planning is designed and expressed by piecewise function. In a period of motion of the manipulator, every component generates the torque caused by gravity. The static total torque is calculated by the theoretical analysis and kinematics simulation used ADAMS. Then the balancing cylinder is designed and the relevant parameters are optimized. The results show that the method of the optimization is right and effective.