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Forbal: Force Balanced 2-5 Degree of Freedom Robot Manipulator Built from a Five Bar Linkage

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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