{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T01:21:30Z","timestamp":1760145690911,"version":"build-2065373602"},"reference-count":31,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2024,8,27]],"date-time":"2024-08-27T00:00:00Z","timestamp":1724716800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"German Foreign Office"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Delta robots are the most common parallel robots for manipulation tasks. In many industrial applications, they must be operated at reduced speed, or dwell times have to be included in the motion planning, to prevent frame vibrations. As a result, their full potential cannot be realized. Against this background, this publication is concerned with the mechanical design of an active dynamic balancing unit for the reduction of frame vibrations. In the first part of this publication, the main design requirements for an active dynamic balancing mechanism are discussed, followed by a presentation of possible mechanism designs. Subsequently, one the most promising mechanisms is described in detail and its kinematics and dynamics equations are derived. Finally, the dimensions of a prototype mechanism designed to experimentally validate the concept of active dynamic balancing are defined using the example of Suisui Bot, a low-cost Delta robot.<\/jats:p>","DOI":"10.3390\/robotics13090129","type":"journal-article","created":{"date-parts":[[2024,8,27]],"date-time":"2024-08-27T11:58:46Z","timestamp":1724759926000},"page":"129","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Design of a Three-Degree of Freedom Planar Parallel Mechanism for the Active Dynamic Balancing of Delta Robots"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5270-9842","authenticated-orcid":false,"given":"Christian","family":"Mirz","sequence":"first","affiliation":[{"name":"Institute of Mechanism Theory, Machine Dynamics and Robotics, RWTH Aachen University, 52062 Aachen, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8949-0215","authenticated-orcid":false,"given":"Mathias","family":"H\u00fcsing","sequence":"additional","affiliation":[{"name":"Institute of Mechanism Theory, Machine Dynamics and Robotics, RWTH Aachen University, 52062 Aachen, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6910-3329","authenticated-orcid":false,"given":"Yukio","family":"Takeda","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, School of Engineering, Tokyo Institute of Technology, Tokyo 152-8550, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1824-3433","authenticated-orcid":false,"given":"Burkhard","family":"Corves","sequence":"additional","affiliation":[{"name":"Institute of Mechanism Theory, Machine Dynamics and Robotics, RWTH Aachen University, 52062 Aachen, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2024,8,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Siciliano, B., and Khatib, O. 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