Abstract
In this paper, we present a novel method for the dynamic balance of planar mechanisms, by transforming a mechanism into a dynamically equivalent form where all links have zero mass but non-zero moment of inertia. The dynamic balance of such pure-inertia systems is shown to be governed by mirror symmetry that cancels out the system’s total angular momentum. Our method not only covers well-known dynamically balanced 1-DOF mechanisms, such as the slider-crank and four-bar linkages, but also leads to the discovery of a novel dynamically balanced 2-DOF planar mechanism.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Ricard, R., Gosselin, C.M.: On the development of reactionless parallel manipulators. In: Proceedings of ASME DETC CIE, vol. 1, pp. 1–10 (2000)
Moore, B., Schicho, J., Gosselin, C.M.: Determination of the complete set of shaking force and shaking moment balanced planar four-bar linkages. Mech. Mach. Theory 44(7), 1338–1347 (2009)
Wu, Y., Gosselin, C.M.: Synthesis of reactionless spatial 3-DoF and 6-DoF mechanisms without separate counter-rotations. Int. Jo. Robot. Res. 23(6), 625–642 (2004)
Briot, S., Bonev, I.A., Gosselin, C.M., Arakelian, V.: Complete shaking force and shaking moment balancing of planar parallel manipulators with prismatic pairs. Proc. Inst. Mech. Eng. 223(1), 43–52 (2009)
Van der Wijk, V., Herder, J.L.: Dynamic balancing of a single crank-double slider mechanism with symmetrically moving couplers. In: Proceedings of the 3rd IFToMM EUCOMES, vol. 5, pp. 413–420 (2010)
Van der Wijk, V., Herder, J.L.: Synthesis method for linkages with center of mass at invariant link pointpantograph based mechanisms. Mech. Mach. Theory 48, 15–28 (2012)
de Jong, J., van Dijk, J., Herder, J.: On the dynamic equivalence of planar mechanisms, an inertia decomposition method. In: Proceedings of the 6th IFToMM EUCOMES, vol. 43, pp. 51–59 (2017)
Routh, E.J.: An Elementary Treatise on the Dynamics of a System of Rigid Bodies. Macmillan, London (1877)
Loos, O.: Symmetric Spaces. Benjamin, New York (1969)
Wu, Y.Q., Carricato, M.: Symmetric subspace motion generators. IEEE Trans. Robot. (2018, in press). https://doi.org/10.1109/TRO.2018.2813377
Wu, Y.Q., Löwe, H., Carricato, M., Li, Z.: Inversion symmetry of the euclidean group: theory and application to robot kinematics. IEEE Trans. Rob. 32(2), 312–326 (2016)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer International Publishing AG, part of Springer Nature
About this paper
Cite this paper
de Jong, J.J., Wu, Y., Carricato, M., Herder, J.L. (2019). A Pure-Inertia Method for Dynamic Balancing of Symmetric Planar Mechanisms. In: Lenarcic, J., Parenti-Castelli, V. (eds) Advances in Robot Kinematics 2018. ARK 2018. Springer Proceedings in Advanced Robotics, vol 8. Springer, Cham. https://doi.org/10.1007/978-3-319-93188-3_32
Download citation
DOI: https://doi.org/10.1007/978-3-319-93188-3_32
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-93187-6
Online ISBN: 978-3-319-93188-3
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)