Effect of Dynamic Balancing on the Performance Characteristics of an Articulated Robot

A systematic and comprehensive analytical study, addressing a range of issues on the dynamic performance of robot manipulators, was conducted in this paper. the robot chosen for this investigation is a puma 560 robot manipulator.closed-form dynamic models as well as the kinematic model of the puma 560 were developed and employed to facilitate the analysis of a robot's dynamic performance. then investigation was conducted on the effect of link counter-balancing on the dynamic performance of an articulated robot.the investigation was conducted by comparing the robot's dynamic performance with and without counter-balancing masses in order to visualize the extent of the effect of counter-balancing. finally to evaluate the performance of the proposed method simulation test is carried out.