Abstract
The design of shaking-force balanced linkages can be approached by deriving these linkages from balanced linkage architectures. When desired, a possible step is to add degrees-of-freedom (dof), for instance by substituting a link with a n-dof equivalent linkage for which the balanced design of the other links is not affected. This paper shows how the coupler link of a shaking-force balanced 4R four-bar linkage, applied as a 5R five-bar linkage, can be substituted with an equivalent 2-dof pantograph.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Bibliography
V. G. Arakelian and M. R. Smith. Complete shaking force and shaking moment balancing of linkages. Mechanism and Machine Theory, 34: 1141–1153, 1999.
I. I. Artobolevskii. Mechanisms for the Generation of Plane Curves. Pergamon Press, 1964.
R. S. Berkof and G. G. Lowen. A new method for completely force balancing simple linkages. J. of Engineering for Industry, pages 21–26, February 1969.
V. Van der Wijk and J. L. Herder. Synthesis method for linkages with center of mass at invariant link point - pantograph based mechanisms. Mechanism and Machine Theory, 48:15–28, 2012a.
V. Van der Wijk and J. L. Herder. Inherently balanced 4r four-bar based linkages. Proc. of the 13th International Symposium on Advances in Robot Kinematics (ARK), Innsbruck, Austria (accepted), 2012b.
V. Van der Wijk, J. L. Herder, and B. Demeulenaere. Comparison of various dynamic balancing principles regarding additional mass and additional inertia. Journal of Mechanisms and Robotics, 1(4):04 1006, 2009.
Y. Wu and C. M. Gosselin. On the synthesis of reactionless spatial 3- dof mechanisms using planar four-bar linkages. Proc. of ASME DETC, Montreal, CA., 2002. DETC2002/MECH-34311.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 CISM, Udine
About this paper
Cite this paper
van der Wijk, V., Herder, J.L. (2013). On the Addition of Degrees of Freedom to Force-balanced Linkage. In: Padois, V., Bidaud, P., Khatib, O. (eds) Romansy 19 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 544. Springer, Vienna. https://doi.org/10.1007/978-3-7091-1379-0_7
Download citation
DOI: https://doi.org/10.1007/978-3-7091-1379-0_7
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-1378-3
Online ISBN: 978-3-7091-1379-0
eBook Packages: EngineeringEngineering (R0)