Comparative Analysis for Low-Mass and Low-Inertia Dynamic Balancing of Mechanisms

Abstract

Dynamic balance is an important feature of high speed mechanisms and robotics that need to minimize vibrations of the base. The main disadvantage of dynamic balancing, however, is that it is accompanied with a considerable increase in mass and inertia. Aiming at low-mass and low-inertia dynamic balancing, in this article the relative importance of the balance parameters of common balancing principles is analyzed and the balancing principles are compared. To do this, the evaluation of a balanced rotatable link is found to be representative for a large group of balanced mechanisms. Therefore, a rotatable link is balanced with duplicate mechanisms (DM), with a countermass (CM) and a separate counter-rotation (SCR), and with a counter-rotary countermass (CRCM). The equations for the total mass and the inertia are derived and compared analytically while the balancing principles are compared numerically. The results show that the DM-balanced link is the best compromise for low mass and low inertia but requires a considerable space. For the CRCM-balanced link and the SCR-balanced link that are more compact, there is a trade-off between mass and inertia for which the CRCM-balanced link is the better of the two.

An Alternative Method for Shaking Force Balancing of the 3RRR PPM through Acceleration Control of the Center of Mass

“…However, all these methods imply a considerable increment in the mass of the system, causing the shaking moment and, hence, the driving torque to grow; see Reference [22]. An additional drawback of these methods is that they also imply modification of the original system, making its application somehow hard or complicated, leading to relatively complex mechanical systems increasing their size.…”

Mass Equivalent Pantographs for Synthesis of Balanced Focal Mechanisms

“…A problem of common approaches to balance pre-existing mechanisms is that generally a multitude of counter-masses is required [1,9], leading to unpractical designs with a significant increase of mass and inertia [6]. Instead, a reversed approach was presented where balanced mechanisms are synthesized from inherently balanced linkage architectures [4].…”

Complete Shaking force and Shaking moment Balancing of 3 Types of Four-bar Linkages

“…The shaking force reduction reached up to 77%. Van der wijk et al (2012) aimed at low-mass and lowinertia dynamic balancing. The evaluation of a balanced rotatable link is found to be representative for a large group of balanced mechanisms.…”