Complete Balancing of Space Mechanisms—Shaking Force Balancing

Bagci, Cemil

doi:10.1115/1.3258523

Cited by 32 publications

(16 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…. ), g 1 and g 4 also approach kp, and subsequently sin g i terms in the equations [equations (4) to (15)] become very small and generate large local values. This fact can also be inferred from equations (4) and (5) for F A , equations (12) and (13) for F E , equation (14) for F 1 and equation (15) for F 4 …”

Section: …31 †mentioning

confidence: 99%

“…Wang and G osselin [18] have described static balancing conditions for spatial 3-D OF parallel mechanisms by employing mass distribution of the links and springs. The balancing of spatial mechanisms has also been studied by Bagci [15] and Walsh et al [19]. The mathematical framework for employing elastic elements to statically balance mechanisms has been derived by Walsh et al [19], Streit and G ilmore [26] and Nathan [27].…”

Section: Introductionmentioning

confidence: 97%

“…Although there is a wealth of literature on balancing of single-input mechanisms [10][11][12][13][14][15], planar and spatial parallel manipulators [16][17][18][19][20] and optimization procedures based on the minimization of the force and moment transmitted to the ground [21][22][23][24], to the best of the authors' knowledge nobody has reported on optimal force balancing of planar parallel manipulators based on the minimization of all bearing, support (ground) and spring forces. Yan and Soong [11] and Conte et al [22] have reported on a balancing method that combines kinematic synthesis, dynamic design and input speed trajectory design to reach the trade-off of dynamic balance and to satisfy the kinematic requirements and constraints simultaneously for four-bar linkages.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Optimum force balancing of a planar parallel manipulator

Alici

Shirinzadeh

2003

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

This paper focuses on optimum force balancing of a planar parallel manipulator, articulated with revolute joints, with a combination of a proper distribution of link masses and two springs connected to the driving links. After conducting the static force analysis of the mechanism, the force balancing is formulated as an optimization problem such that a mean-square root of the sumsquared values of bearing and spring forces is minimized throughout an operation range of the manipulator, provided that a set of balancing constraints consisting of balancing conditions and the sizes of some inertial and geometric parameters are satis ed. The minimization of bearing forces and spring forces adds to the life of bearings and springs, transmits less shaking force and moment to the ground, decreases wear in the mechanism components and consequently reduces the actuation burden on the actuators when the manipulator is in motion. Optimization results indicate that the proposed optimization approach is systematic, versatile and easy to implement for the optimal balancing of the parallel manipulator and other kinematic chains.

show abstract

Section: …31 †mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 97%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Optimum force balancing of a planar parallel manipulator

Alici

Shirinzadeh

2003

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

show abstract

“…A great deal of achievement has been obtained in dynamic balancing of rigid-body linkages [1][2][3][4][5]. It is well known that the elastic deformation has a significant effect on the dynamic behavior of high-speed mechanisms [6,7].…”

Section: Introductionmentioning

confidence: 99%

Analytical and experimental study on the dynamic balancing of flexible mechanisms

Jiang

2007

Mechanism and Machine Theory

View full text Add to dashboard Cite

“…More recently, research attention has been directed to the balancing of multi-degree-of-freedom machinery, in particular for planar linkages [11][12], while the balancing of spatial mechanisms has been studied as well [14,15]. The static balancing of serial manipulators using counterweights and springs has been studied [15][16][17], along with that of parallel manipulators [18][19][20].…”

mentioning

confidence: 99%

A Novel Approach to the Teaching of Planar Mechanism Dynamics – A Case Study

Sinatra

Ángeles

2003

International Journal of Mechanical Engineering Education

View full text Add to dashboard Cite

We propose a novel approach to the teaching of undergraduate planar mechanism dynamics. To illustrate the approach, we use a case study, the dynamics of the planar slider-crank mechanism. In this case study, we make extensive use of an operator representing in two-dimensional form the cross-product of two vectors. Furthermore, by using the natural orthogonal complement, introduced elsewhere, we produce a systematic procedure to derive a dynamic model of the same class of mechanism. Subsequently, we illustrate how, with the use of the aforementioned operator, the dynamic balancing of this mechanism, as first proposed by Berkof and Lowen for RRRR planar linkages, and extended by Bagci to the slider-crank mechanism, simplifies tremendously. Keywords dynamic balancing; planar slider-crank mechanism; undergraduate teachingThe teaching of the planar kinematics and dynamics of machines has undergone very few, if any, innovations in the last half century of what has been called modern mechanism and machine theory [1]. This epoch has been marked by the advent of the computer, in which has been traditionally called theory of machines and mechanisms (TMM), and nowadays is being called mechanism and machine science (MMS). If we compare MMS textbooks of the late 1940s or early 1950s with current ones, a remarkable difference is that the latter include, as a rule, code (usually Fortran or BASIC) to evaluate, verbatim, classical formulas. Needless to say, the casting of these formulas in computer code does not advance the state of the art in the teaching of MMS. A recent book [2] does intensively use Matlab for the solution of MMS problems.We have reviewed the formulation of planar kinematics and dynamics, and came across an alternative, novel formulation, based on an operator used to represent the three-dimensional cross-product in two-dimensional form. What the operator offers is an alternative to the popular treatment of planar kinematics and dynamics based on complex numbers. However, notice that complex numbers cannot handle threedimensional mechanism analysis; the method introduced here cannot only be readily extended to three dimensions, but was also derived from three-dimensional analyses. With the aid of the operator introduced here, the kinematic analysis of planar mechanisms is greatly simplified. The dynamic analysis of mechanisms is simplified likewise with the aid of this operator and the introduction of the natural orthogonal complement [3,4].Subsequently, we show how the equations for the dynamic balancing of the planar

show abstract

Complete Balancing of Space Mechanisms—Shaking Force Balancing

Cited by 32 publications

References 0 publications

Optimum force balancing of a planar parallel manipulator

Optimum force balancing of a planar parallel manipulator

Analytical and experimental study on the dynamic balancing of flexible mechanisms

A Novel Approach to the Teaching of Planar Mechanism Dynamics – A Case Study

Contact Info

Product

Resources

About