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Shaking Moment Balancing of a Four-Bar Mechanism Using Actuation Redundancy

  • Mario AcevedoEmail author
  • Teresa Orvañanos
  • Ramiro Velázquez
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)

Abstract

Shaking moment balancing of force-balanced mechanisms is typically achieved by the use of counter-inertias that, in general, are very large. This leads to a substantial increase in the total mass of the linkage. In opposition to these traditional methods a novel, simple and direct method that takes advantage of actuation redundancy is proposed. The method can be generalized to any force balanced planar mechanism and is based on the solution of the inverse dynamics problem. The method is exemplified through the shaking moment balancing of a four-bar mechanism, previously balanced by force, following a didactic approach. Effectiveness of the method is verified by dynamic simulation.

Keywords

Shaking moment balancing Dynamic balancing Actuation redundancy 

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Mario Acevedo
    • 1
    Email author
  • Teresa Orvañanos
    • 2
  • Ramiro Velázquez
    • 2
  1. 1.Universidad Panamericana, Facultad de IngenieríaZapopanMéxico
  2. 2.Universidad Panamericana, Facultad de IngenieríaAguascalientes, AguascalientesMéxico

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