Optimum Balancing of Shaking Force and Shaking Moment for Spatial RSSR Mechanism Using Genetic Algorithm.

Dynamics and Balancing of Multibody Systems

“…Regarding the balancing of shaking force and shaking moment in spatial high speed mechanisms/machines, Kaufman and Sandor [103] presented a complete force balancing of spatial mechanisms like RSSR (Revolute-Spherical-Spherical-Revolute) and RSSP (Revolute-Spherical-Spherical-Prismatic). Also, the techniques like genetic algorithm, etc., were also applied to the optimum balancing of shaking force and shaking moment for the spatial RSSR mechanism [120]. Using the real vectors and the concept of retaining the stationary center of total mass, Bagci [104] has obtained the design equations for force balancing of various mechanisms, whereas Ning-Xin Chen [105,106] extended the concept of linearly independent vectors to a single loop spatial n-bar linkages with some restricted kinematic pairs for the derivation of the shaking force balance conditions.…”

“…for counterweight method Moreover, it is essential to position the mass center of link 3 along O 3 O 4 or X 4 so as to control the gyroscopic action on the mechanism [104,120]. Furthermore, it is considered that the minimum mass of each link is equal to its original mass, o i m , and the maximum can rise up to five times the original …”

Minimizing constraint forces and moments of manipulators using teaching–learning-based optimization and octahedron point mass model

“…For a given manipulator and its joint trajectories, the inertia-induced constraint forces and moments depend only upon the mass distribution of the moving links, that is, the link masses, their mass center locations and the inertias. 21 To minimize the constraint forces and moments it is required to optimally distribute the masses of links. This problem can be treated by the dynamically equivalent system of point masses for each link, which is a convenient way to represent the inertia properties.…”