The Static Balancing of 3-PRS Parallel Machine by Counterweight

The counterweight is used to make the centroid of machine in static balancing by adding weight.the advantages of counterweight is that it can make parallel machine in static balancing in arbitrary direction, but the realization of using counterweight add weight on the moving part of machine, add the affect of inertia force, and deteriorate in the moving performance of the machine.The static balancing of 3-PRS parallel machine is discussed by counterweight to validate its advantages and disadvantages in this paper.