  The shaking force balancing is a well-known problem in the design of
high-speed robotic systems because the variable dynamic loads cause noises,
wear and fatigue of mechanical structures. Different solutions, for full or
partial shaking force balancing, via internal mass redistribution or by adding
auxiliary links were developed. The paper deals with the shaking force
balancing of the Orthoglide. The suggested solution based on the optimal
acceleration control of the manipulator's common center of mass allows a
significant reduction of the shaking force. Compared with the balancing method
via adding counterweights or auxiliary substructures, the proposed method can
avoid some drawbacks: the increase of the total mass, the overall size and the
complexity of the mechanism, which become especially challenging for special
parallel manipulators. Using the proposed motion control method, the maximal
value of the total mass center acceleration is reduced, as a consequence, the
shaking force of the manipulator decreases. The efficiency of the suggested
method via numerical simulations carried out with ADAMS is demonstrated.
