A constituting method of objective function for the dynamic optimum balance of shaking forces in linkage

In the present Chapter, we consider the shaking moment and shaking force balancing through the use of additional Assur groups mounted on the mechanism to be balanced. Two types of mechanisms are considered: (i) the in-line four-bar linkage and (ii) the planar parallel robots with prismatic pairs. For both types of mechanisms, the proposed solution allows the reduction (or even the cancellation in the case of the four-bar linkage) of the number of counter-rotations used for obtaining the shaking moment balancing, which decreases the design complexity and the inherent problems due to the use of counter-rotations (backlash, noise, vibrations, etc.). All theoretical developments are validated via simulations carried out using ADAMS software. The simulations show that the obtained mechanisms (both inline four-bar linkages and planar parallel robots) transmit no inertia loads to their surroundings, i.e. the sum of all ground bearing forces and their moments are eliminated.

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“…It should be noted that optimization algorithms are also widely used in partial balancing of four-bar linkages [30][31][32][33]. 3.…”

Section: Complete Shaking Force and Shaking Moment Balancing Of In-limentioning

confidence: 99%

Design of Reactionless Linkages and Robots Equipped with Balancing Assur Groups

Briot¹,

Arakelian

2016

Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots

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“…Qi and Pennestri [46] and Zhan [47] investigated complete, partial and optimal balancing of shaking force and shaking moment of planar and spatial mechanisms. Systematic research on dynamic balancing of elastic mechanism is also implemented, which pushes mechanism dynamic balancing to a new level.…”

Section: Extensive and In-depth Research On Mechanism Dynamics Has Bementioning

confidence: 99%

The main achievements in the past 24 years and the prospects of mechanism research in China

Zhang

2006

Front. Mech. Eng. China

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Since 1982, the symposiums on mechanism in China has been held fifteen times. In the past 24 years, Chinese mechanism has experienced a phenomenal development. Generally, fundamental research on traditional mechanisms is enhanced; mechanism and creative design of products are closely combined; modern mechanism with advanced and new technology is opened up; and mechanism is promoted to modernization. These are manifested in the following aspects: theory research on analysis and synthesis of traditional mechanism is deeply developed; computer-aided design on mechanisms is realized vigorously; conceptual design of mechanism system and mechanical products is energetically pushed; research on robot mechanisms and its industrial application is deeply developed; research on analysis and synthesis of controllable mechanisms and compliant mechanisms are energetically carried out; research on the dynamics of mechanisms and machines is vigorously developed; and reformation of teaching contents and system of mechanism is energetically carried out. Through the above-mentioned aspects of theory research and practical application, the theoretical and academic levels of Chinese mechanism can be considered at the advanced international level. However, there are not many original and breakthrough research achievements of fundamental research in China. In the meantime, there is a larger gap in the aspect of practical application of mechanism in the country compared with advanced countries in the world.

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“…It should be noted that optimization algorithms are also widely used in partial balancing of four-bar linkages [18]- [21].…”

Section: Introductionmentioning

confidence: 99%

Complete shaking force and shaking moment balancing of in-line four-bar linkages by adding a class-two RRR or RRP Assur group

Briot¹,

Arakelian

2012

Mechanism and Machine Theory

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This paper deals with the complete shaking force and shaking moment balancing of planar in-line four-bar linkages with constant input speed. A new solution is discussed, which is carried out without counter-rotations. The complete shaking force and shaking moment balancing is obtained by using a coupler link, which is a physical pendulum and by adding a class-two Assur group with prescribed geometrical and mass parameters. Two types of Assur group are examined: two links group with three revolute joints (RRR) and two links group with two revolute and one prismatic joints (RRP). Numerical simulations carried out using ADAMS software validate the proposed balancing technique and illustrate that the obtained six-bar mechanism is reactionless, i.e. the sum of all ground bearing forces and their moments are eliminated.

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A constituting method of objective function for the dynamic optimum balance of shaking forces in linkage

Cited by 14 publications

References 15 publications

Design of Reactionless Linkages and Robots Equipped with Balancing Assur Groups

Design of Reactionless Linkages and Robots Equipped with Balancing Assur Groups

The main achievements in the past 24 years and the prospects of mechanism research in China

Complete shaking force and shaking moment balancing of in-line four-bar linkages by adding a class-two RRR or RRP Assur group

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