{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T01:48:12Z","timestamp":1760233692934,"version":"build-2065373602"},"reference-count":24,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2021,2,6]],"date-time":"2021-02-06T00:00:00Z","timestamp":1612569600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>For fast-moving robot systems, the fluctuating dynamic loads transmitted to the supporting frame can excite the base and cause noise, wear, and fatigue of mechanical components. By reducing the shaking force completely, the dynamic characteristics of the robot system can be improved. However, the complete inertial force and inertial moment balancing can only be achieved by adding extra counterweight and counter-rotation systems, which largely increase the total mass, overall size, and complexity of robots. In order to avoid these inconveniences, an approach based on the optimal motion control of the center of mass is applied for the shaking force balancing of the robot Orthoglide. The application of the \u201cbang\u2013bang\u201d motion profile on the common center of mass allows a considerable reduction of the acceleration of the total mass center, which results in the reduction of the shaking force. With the proposed method, the shaking force balancing of the Orthoglide is carried out, taking into account the varying payload. Note that such a solution by purely mechanical methods is complex and practically inapplicable for industrial robots. The simulations in ADAMS software validate the efficiency of the suggested approach.<\/jats:p>","DOI":"10.3390\/robotics10010030","type":"journal-article","created":{"date-parts":[[2021,2,15]],"date-time":"2021-02-15T02:32:23Z","timestamp":1613356343000},"page":"30","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Balancing of the Orthoglide Taking into Account Its Varying Payload"],"prefix":"10.3390","volume":"10","author":[{"given":"Jing","family":"Geng","sequence":"first","affiliation":[{"name":"LS2N-Ecole Centrale de Nantes-UMR 6004, 1 rue de la No\u00eb, BP 92101, F-44321 Nantes, France"},{"name":"INSA Rennes\/Mecaproce, 20 Av. des Buttes de Co\u00ebsmes, CS 70839, F-35708 Rennes, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vigen","family":"Arakelian","sequence":"additional","affiliation":[{"name":"LS2N-Ecole Centrale de Nantes-UMR 6004, 1 rue de la No\u00eb, BP 92101, F-44321 Nantes, France"},{"name":"INSA Rennes\/Mecaproce, 20 Av. des Buttes de Co\u00ebsmes, CS 70839, F-35708 Rennes, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Damien","family":"Chablat","sequence":"additional","affiliation":[{"name":"LS2N-Ecole Centrale de Nantes-UMR 6004, 1 rue de la No\u00eb, BP 92101, F-44321 Nantes, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Philippe","family":"Lemoine","sequence":"additional","affiliation":[{"name":"LS2N-Ecole Centrale de Nantes-UMR 6004, 1 rue de la No\u00eb, BP 92101, F-44321 Nantes, France"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,2,6]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"767","DOI":"10.1016\/0957-4158(93)90062-7","article-title":"Static balancing and dynamic decoupling of the motion of manipulation robots","volume":"3","author":"Filaretov","year":"1993","journal-title":"Mechatronics"},{"key":"ref_2","first-page":"727","article-title":"Industrial Robot with a Weight Balancing System","volume":"301","author":"Bayer","year":"2011","journal-title":"Patent EP"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Gosselin, C.M. (2008). Gravity compensation, static balancing and dynamic balancing of parallel mechanisms. Smart Devices and Machines for Advanced Manufacturing, Springer.","DOI":"10.1007\/978-1-84800-147-3_2"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"25","DOI":"10.1016\/S0094-114X(03)00102-2","article-title":"Reactionless space and ground robots: Novel design and concept studies","volume":"39","author":"Agrawal","year":"2004","journal-title":"Mech. Mach. Theory"},{"key":"ref_5","unstructured":"Fattah, A., and Agrawal, S.K. (2003, January 14\u201319). Design and modeling of classes of spatial reactionless manipulators. 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