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Published in:
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2016 | OriginalPaper | Chapter

5. Design of Reactionless Mechanisms with Counter-Rotary Counter-Masses

Author : Mario Acevedo

Published in: Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots

Publisher: Springer International Publishing

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Abstract

In this chapter a new method to find the force and moment balancing conditions based on Natural Coordinates is introduced. The method is simple and can be highly automated, it is very prone to be used in combination with a system for the manipulation of symbolic expressions. These conditions can be interpreted and used for the creation of dynamic balanced linkages by design. The application of the method is demonstrated through the dynamic balancing of a simple pendulum (open-loop linkage) and a general four-bar mechanism (closed-loop linkage), particularly by the design of counter-rotary counter-masses applying optimization. The resulting designs are presented and their virtual prototypes simulated using a general multibody dynamics simulation software (ADAMS), specifying the resulting geometry (dimensions), shaking force, shaking moment, and driving torque.

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Footnotes
1
The term “inline” means that the centers of mass of the links must lie on the line connecting the pivots (which can be extended beyond the pivots). The links need not be symmetrical in any way [12].
 
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van der Wijk, V., Herder, J.L.: Double pendulum balanced by counter-rotary counter-masses as useful element for synthesis of dynamically balanced mechanisms. In: Proceedings of the DETC 2008, Paper No. DETC2008-49402. ASME, New York (2008)
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Acevedo, M., Carbone, G., Ceccarelli, M.: Application of counter-rotary counterweights to the dynamic balancing of a spatial parallel manipulator. Appl. Mech. Mater. 162, 224–233 (2012)CrossRef
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Metadata
Title
Design of Reactionless Mechanisms with Counter-Rotary Counter-Masses
Author
Mario Acevedo
Copyright Year
2016
Book
Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots

Print ISBN: 978-3-319-17682-6

Electronic ISBN: 978-3-319-17683-3

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-17683-3_5