Inverse Dynamics and Static Balancing of the Single-Rail Tripteron Robot

This paper examines the single-rail variant of the Tripteron robot, which features three actuated prismatic joints translating along the same linear axis to produce the Cartesian motion of the end-effector. This configuration offers several advantages, such as compactness and suitability for control by a single Permanent Magnet Linear Synchronous motor with three carts. However, the use of a single rail results in a cantilevered-like design that calls for a static balancing. In this work, we propose and compare two simple but effective balancing strategies. We then compute the actuation forces for a sample pick-and-place task using an inverse dynamics model developed with Kane’s equations. Comparative simulations are performed in MATLAB and through a multibody simulator developed using Simscape Multibody. Finally, a 3D printed preliminary prototype of the balanced single-rail Tripteron is presented.