Kinematics method and device for stabilizing serial and parallel kinematics combines multiple flywheels in a flywheel system arranged offset at an angle to each other in their axes

摘要

A flywheel system fastens on a kinematics manipulator above an interposed vectorial force-sensing system. Different rotating speeds in different flywheels for different directions generate a mass moment of inertia, which opposes vibrations/oscillations in a manipulator/effector and, at the same time, uses its counter-force to reduce dead play in an arm, e.g. of an industrial robot.