Static balancing of a four-bar linkage and its cognates

Deepak, Sangamesh R.; Ananthasuresh, G. K.

doi:10.1016/j.mechmachtheory.2011.09.009

Cited by 28 publications

(12 citation statements)

References 10 publications

(16 reference statements)

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“…e l s e v i e r . c o m / l o c a t e / m e c h m t Finally, building practical statically balanced mechanisms is difficult because the balancing element is often bulky, making the system much larger than what is convenient [12].…”

Section: Contents Lists Available At Sciencedirectmentioning

confidence: 99%

Non-dimensional approach for static balancing of rotational flexures

Merriam

Howell

2015

Mechanism and Machine Theory

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This work presents a general method of statically balancing flexural hinges. Using a set of nondimensional parameters, we show that one can quickly design a statically balanced rotational flexure. First, a balancing method is developed for an idealized hinge/torsion spring system. This method is then extended to load-dependent systems and is demonstrated with the design of a balanced cross-axis-flexural pivot with stiffness that varies as a function of compressive preload. A physical prototype is built and tested to verify the design method. This method is general for any system that has a well understood stiffness response to an applied compressive load.

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Section: Contents Lists Available At Sciencedirectmentioning

confidence: 99%

Non-dimensional approach for static balancing of rotational flexures

Merriam

Howell

2015

Mechanism and Machine Theory

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“…The multiobjective optimization problem (simultaneous optimization of Eqs. (11) and (12)) was solved by using the weighted sum method and the evolutionary algorithm known as Differential Evolution [25]. Specifically, we use the DE/rand/1/bin strategy with the dither variant.…”

Section: Optimum Synthesis With Minimum Acceleration Of the Center Ofmentioning

confidence: 99%

“…A mechanism is said to be dynamically balanced if there is an elimination of dynamic reaction forces and torques (moments) on the base [1][2][3][4]. The use of counterweights [5][6][7][8] and springs [9][10][11] are the two most common methods for balancing a mechanism.…”

Section: Introductionmentioning

confidence: 99%

Synthesis method for the spherical 4R mechanism with minimum center of mass acceleration

Mendoza-Trejo

Cruz-Villar

Peón-Escalante

et al. 2015

Mechanism and Machine Theory

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In the mechanisms area, minimization of the magnitude of the acceleration of the center of mass (ACoM) implies shaking force balancing. This article shows an efficient optimum synthesis method for minimum acceleration of the center of mass of a spherical 4R mechanism by using dual functions, as well as, the counterweights balancing method. Once the dual function for ACoM has been formulated, one can minimize the shaking forces from a kinematic point of view. We present the synthesis of a spherical 4R mechanism for the case of a path generation task. The synthesis process involves the optimization of two objective functions, this multiobjective problem is solved by using the weighted sum method implemented in the evolutionary algorithm known as Differential Evolution. Our results shows that the magnitude of the ACoM can be reduced about 20 times. Which for the presented synthesis, is traduced in a reduction of about 89% for the shacking forces.

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“…Elastic components are also able to provide balancing conditions even in the absence of actuator force; for an example, see [23].…”

Section: Mechanical Gravity Compensationmentioning

confidence: 99%

Modelling and Experimental Evaluation of a Static Balancing Technique for a New Horizontally Mounted 3-UPU Parallel Mechanism

Dehkordi

Frisoli

Sotgiu

et al. 2012

International Journal of Advanced Robotic Systems

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This paper presents the modelling and experimental evaluation of the gravity compensation of a horizontal 3-UPU parallel mechanism. The conventional Newton-Euler method for static analysis and balancing of mechanisms works for serial robots; however, it can become computationally expensive when applied to the analysis of parallel manipulators. To overcome this difficulty, in this paper we propose an approach, based on a Lagrangian method, that is more efficient in terms of computation time. The derivation of the gravity compensation model is based on the analytical computation of the total potential energy of the system at each position of the end-effector. In order to satisfy the gravity compensation condition, the total potential energy of the system should remain constant for all of the manipulator's configurations. Analytical and mechanical gravity compensation is taken into account, and the set of conditions and the system of springs are defined. Finally, employing a virtual reality environment, some experiments are carried out and the reliability and feasibility of the proposed model are evaluated in the presence and absence of the elastic components.

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Static balancing of a four-bar linkage and its cognates

Cited by 28 publications

References 10 publications

Non-dimensional approach for static balancing of rotational flexures

Non-dimensional approach for static balancing of rotational flexures

Synthesis method for the spherical 4R mechanism with minimum center of mass acceleration

Modelling and Experimental Evaluation of a Static Balancing Technique for a New Horizontally Mounted 3-UPU Parallel Mechanism

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