Top

Published in:

2016 | OriginalPaper | Chapter

6. Shaking Force and Shaking Moment Balancing of Six- and Eight-Bar Planar Mechanisms

Author : Peddinti Nehemiah

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

Publisher: Springer International Publishing

Activate our intelligent search to find suitable subject content or patents.

search-config

AI-assisted search

Off

Abstract

This chapter presents the dynamic balancing technique for shaking force and shaking moment balancing of six- and eight-bar planar mechanisms. Shaking force is balance by the method of redistribution of mass and shaking moment by geared inertia elements. The planetary gears used to balance shaking moment of links not directly connected to the frame in earlier methods are mounted on the base of the mechanism which is constructively more efficient. The proposed method is illustrated by numerical examples and it is observed that better results are obtained than those of the previous method.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 390 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Maschinenbau + Werkstoffe

Jetzt Wissensvorsprung sichern!

inform now

previous chapter Design of Reactionless Mechanisms with Counter-Rotary Counter-Masses

next chapter Synthesizing of Parallel Robots Using Adjusting Kinematic Parameters Method

Berkof, R.S.: Complete force and moment balancing of inline four-bar linkage. Mech. Mach. Theory 8, 397–410 (1973)CrossRef

Esat, I., Bahai, H.: A theory of complete force and moment balancing of planar linkage mechanisms. Mech. Mach. Theory 34, 903–922 (1999)MATHCrossRef

Berkof, R.S., Lowen, G.G.: A new method for completely force balancing simple linkages, Trans. ASME J. Eng. Ind. 91(1), 21–26 (1969)CrossRef

Sherwood, A.A., Hokey, B.A.: The Optimization of mass distribution in mechanisms using dynamically similar systems. J. Mech. 4, 243–260 (1969)CrossRef

Sherwood, A.A.: The Optimum distribution of mass in the coupler of a plane four-bar linkage. J. Mech. 1, 229–234 (1966)CrossRef

Sherwood, A.A.: The dynamics of the harmonic space slider-crank mechanisms. J. Mech. 1, 203–208 (1966)CrossRef

Kochev, I.S.: Theory of symmetrical mechanisms. Int. J. Mech. Mach. Theory 25(4), 467–478 (1990)CrossRef

Kochev, I.S.: Full shaking movement balancing of planar linkages by a prescribed input speed fluctuation. Int. J. Mech. Mach. Theory 25(4), 459–466 (1990)CrossRef

Kochev, I.S.: Active balancing of the frame shaking moment in high speed planar machines. Int. J. Mech. Mach. Theory 27(1), 53–58 (1992)CrossRef

10.

Hong-sen, Y., Guo-jhih, Y.: Integrated control and mechanism design for the variable input speed servo four-bar linkages. Int. J. Mechatron. 19, 274–285 (2009)CrossRef

11.

Yan, H.S., Hsu, M.H., Fong, M.K., Hsieh, W.H.: A kinematic approach for eliminating the discontinuity of motion characteristics of cam-follower systems. J. Appl. Mech. Robotics 1(2), 1–6 (1994)

12.

Yan, H.S., Tsai, M.C., Hsu, M.H.: A variable speed method for improving motion characteristics of cam-follower systems. ASME Trans. J. Mech. Design 118(1), 250–258 (1996)CrossRef

13.

Yan, H.S., Tsai, M.C., Hsu, M.H.: An experimental study of the effects of cam speed on cam-follower systems. Int. J. Mech. Mach. Theory 31(4), 397–412 (1996)CrossRef

14.

Yan, H.S., Fong, M.K.: An Approach for reducing the peak acceleration of cam-follower systems using a B-spline representation. J. China Soc. Mech. Eng. (Taiwan) 15, 48–55 (1994)

15.

Yan, H.S., Chen, W.R.: On the output motion characteristics of variable input speed servo-controlled slider-crank mechanisms. Int. J. Mech. Mach. Theory 35(4), 541–561 (2000)MATHCrossRef

16.

Kochev, I.S.: General method for active balancing of combined shaking moment torque fluctuations in planar linkages. Int. J. Mech. Mach. Theory 25(6), 679–687 (1990)CrossRef

17.

Ye, Z., Smith, M.R.: Complete balancing of planar linkages by an equivalence method. Mech. Mach. Theory 29(5), 701–712 (1994)CrossRef

18.

Feng, G.: Complete shaking force and shaking moment balancing of 26 types of four-, five-, six-bar linkages with prismatic pairs. Int. J. Mech. Mach. Theory 25(2), 183–192 (1990)CrossRef

19.

Feng, G.: Complete shaking force and shaking moment balancing of four types of six-bar linkages. Int. J. Mech. Mach. Theory 24(4), 275–287 (1989)CrossRef

20.

Feng, G.: Complete shaking force and shaking moment balancing of 17 types of eight-bar linkages only with revolute pairs. Int. J. Mech. Mach. Theory 26(2), 197–206 (1991)CrossRef

21.

Arakelian, V.: Complete shaking force and shaking moment balancing of linkages. Int. J. Mech. Mach. Theory 33(4), 425–436 (1998)MATHMathSciNetCrossRef

22.

Arakelian, V.H., Smith, M.R.: Complete shaking force and shaking Moment balancing of planar linkages. Int. J. Mech. Mach. Theory 34, 1141–1153 (1999)MATHCrossRef

23.

Nehemiah, P., Sundarasiva Rao, B.S.K., Ramji, K.: Shaking force and Shaking moment balancing of planar mechanisms with high degree of complexity. Jordan J. Mech Ind. Eng. (JJMIE) 6(1), 17–24 (2012)

24.

Yan, H.S., Soong, R.C.: kinematic and dynamic design of four-bar linkage by counterweighing with variable input speed. Int. J. Mech. Mach. Theory 36, 1050–1071 (2001)

25.

Chiou, S.T., Bai, G.J., Chang, W.K.: Optimum balancing design of the drag-link drive of mechanical presses for precision cutting. Int. J. Mach. Tools Manuf. 38(3), 131–141 (1998)CrossRef

26.

Barker, C.R., Tso, P.L.: Characteristics surface for three position function generation with planar four-bar mechanism. ASME Trans. J.Mech. Transm. Automat. Des. 111, 104–109 (1989)CrossRef

27.

Bagci, C.: Complete shaking force and shaking moment balancing of link mechanisms using balancing idler loops. ASME Trans. J. Mech. Des. 104, 482–493 (1982)CrossRef

28.

Wu, Y., Gosselin, C.M.: Synthesis of reaction less spatial 3-dof and 6-dof mechanisms without separate counter rotations. Int. J. Robotics Res. 23(6), 625–642 (2004)CrossRef

29.

Bagci, C.: Shaking force balancing of planar linkages with force transmission irregularities using balancing idler loops. Int. J. Mech. Mach. Theory 14(4), 267–284 (1979)CrossRef

30.

Kochev, I.S.: A new general method for full force balancing of planar linkages. Int. J. Mech. Mach. Theory 23(6), 475–480 (1988)

31.

Zhang, S., Chen, J.: The optimum balance of shaking force and shaking moment of linkages. Int. J. Mech. Mach. Theory 38(4), 589–597 (1995)

32.

Li, C.-H., Tso, P.-L.: The study of dynamic balancing for high speed presses. JSME Int J Series C 49(3), 657–662 (2006)CrossRef

33.

Stevensen Jr., E.N.: Balancing of machines. Trans ASME J Eng. Ind. 95, 650–656 (1973)CrossRef

34.

Hocky, B.A.: An improved technique for reducing the fluctuation of kinetic energy in plane mechanisms. J. Mech. 6, 405–418 (1971)CrossRef

35.

Spreitzer, G.: The path of the inertia pole of a rigid body in constrained motion. Int. J. Mech. Mach. Theory 7, 231–245 (1972)CrossRef

36.

Zhe, L., Shixian, B.: Optimum balancing of linkages with clearances. Int. J. Mech. Mach. Theory 27(5), 535–541 (1992)CrossRef

37.

Wiederrich, J.L., Roth, B.: Momentum balancing of four-bar linkages. Trans. ASME J. Eng. Ind. Series B 98, 1289–1295 (1976)CrossRef

38.

Porter, B., Sanger, D.J.: Synthesis of dynamically optimal four-bar linkages. Institution of mechanical engineers conference on mechanisms, Londan, paper C 69, (1972)

39.

Kochev, I.S.: Qualitative theory of the reactions and stress in high speed planar linkages. Int. J. Mech. Mach. Theory 27(1), 59–68 (1992)CrossRef

40.

Ogawa, K., Funabashi, H.: On the balancing of the fluctuations of input torques caused by inertia forces in the crank and rocker mechanisms. Trans. ASME J. Eng. Ind. 91(1), 97–102 (1969)CrossRef

41.

Hocky, B.A.: The minimization of the fluctuation of input shaft torque in plane mechanisms. Int. J. Mech. Mach. Theory 7, 335–346 (1972)CrossRef

42.

Smith, M.R., Maunder, L.: Inertia forces in a four-bar linkage. J. Mech. Eng. Sci. 9(3), 218–225 (1967)CrossRef

43.

Smith, M.R.: Dynamic analysis and balancing of linkages with interactive computer graphics. Comput. Aided Des. 7(1), 15–19 (1975)CrossRef

44.

Ettefgh, M.M., Abbasidoust, F., Milanchian, H., Yazdanian Asr, M.: Complex crank-slider mechanism dynamic balancing by binary genetic algorithm (BGA). Proceedings of the 2011 international symposium on innovations in intelligent systems and applications. Istanbul, Turkey, IEEE Trans. 277–281 (2011)

45.

Carson, W.L., Stephens, J.M.: Feasible parameter design space for force and root-mean-square momentum balancing on in-line 4R four bar linkage synthesized for kinematic criteria. Int. J. Mech. Mach. Theory 13(6), 649–658 (1978)CrossRef

46.

Elliott, J.L., Tesar, D.: The theory of torque, shaking force, shaking moment. Trans. ASME J. Eng. Ind. 99(3), 715–722 (1977)

47.

Elliott, J.L., Tesar, D.: A general mass balancing method for complex planar mechanisms. Int. J. Mech. Mach. Theory 17(2), 153–172 (1982)CrossRef

48.

Haines, R.S.: Minimum r.m.s shaking moment or driving torque of a force balanced four bar linkage using feasible counterweights. Int. J. Mech. Mach. Theory 16(3), 185–190 (1981)CrossRef

49.

Himanshu, C., Saha, S.K.: Balancing of shaking force and shaking moments for planar mechanisms using the equimomental systems. Int. J. Mech. Mach. Theory 43, 310–334 (2008)MATHCrossRef

50.

Himanshu, C., Saha, S.K.: Balancing of four bar linkages using maximum recursive dynamic algorithm. Int. J. Mech. Mach. Theory 42, 216–232 (2007)MATHCrossRef

51.

Ilia, D., Sinatra, R.: A novel formulation of the dynamic balancing of five-bar linkages with applications to link optimization. Int. J. Multi-Body Syst. Dyn. 21, 193–211 (2009)MATHCrossRef

52.

Sadler, J.P., Mayne, R.W.: Balancing of mechanisms by non-linear programming. proceedings of 3rd Applied mechanics conference, Oklahoma state university, paper 29, (1973)

53.

Walker, M.J., Smith, M.R.: Force and moment reduction in linkage mechanisms by computerized optimization. Proceedings of 2nd IFToMM International symposium linkages and computer-aided design methods, Bucharest, June 1977

54.

Nikravsh, P.E., Gim, G.: Systematic construction of the equation of motion for multi-body systems containing closed kinematic loops. ASME J. Mech. Des. 115, 143–149 (1993)CrossRef

55.

Saha, S.K.: Dynamics of serial multi-body systems using the decoupled natural orthogonal complement matrices. ASME J. Appl. Mech. 66, 986–996 (1999)CrossRef

56.

Angeles, J., Lee, S.: The formulation of dynamical equations of holonomic mechanical systems using a natural orthogonal complement. ASME J. Appl. Mech. 55, 243–244 (1988)MATHCrossRef

57.

Lee, T.W., Cheng, C.: Optimum balancing of combined shaking force, shaking moment and torque fluctuations in high speed linkages. ASME J. Mech. Transm. Automat. Des. 106(2), 242–251 (1984)CrossRef

58.

Feng, B., Morita, N., Torii, T.: A new optimization method for dynamic design of planar linkage with clearance at joints- optimization the mass distribution of links to reduce the change of joint forces. ASME J. Mech. Des. 124, 68–73 (2000)CrossRef

59.

Denavit, J., Hartenberg, R.S.: A kinematic notation for lower pair mechanisms based matrices. ASME J. Appl. Mech. 77, 215–221 (1955)MathSciNet

60.

Freudenstein, F.: Approximate synthesis of four bar linkages. Trans. ASME J. Eng. Ind. 77, 853–861 (1955)MathSciNet

61.

Han, C.Y.: Balancing of high speed machinery. Trans. ASME J. Eng. Ind. Series B 89(1), 111–118 (1967)CrossRef

62.

Mewes, E.: Unbalanced inertia forces in slider crank mechanisms of large eccentricity. Trans. ASME J. Appl. Mech. 25, 225–232 (1958)MATH

63.

Qi, N.M., Pennestri, E.: Optimum balancing of four bar linkages-A refined algorithm. Int. J. Mech. Mach. Theory 26(3), 337–348 (1991)CrossRef

64.

Lowen, G.G., Berkof, R.S.: Survey of investigations into the balancing of linkages. J. Mech. 3, 221–231 (1968)CrossRef

65.

Tepper, F.R., Lowen, G.G.: On the distribution of the R.M.S shaking moment of unbalanced planar mechanisms: Theory of Isomomental Ellipses. ASME paper no.72-Mech-4,Mechanisms conference, October 8–12, 1972

66.

Tepper, F.R., Lowen, G.G.: Shaking force optimization of four-bar linkage with adjustable constraints on ground bearing forces. Trans. ASME J. Eng. Ind. 97 (series B), 643–651 (1975)CrossRef

67.

Himanshu, C., Saha, S.K.: constraint wrench formulation for closed loop systems using two-level recursions. ASME J. Mech. Des. 129, 1234–1242 (2007)CrossRef

68.

Zhang, S.: A constituting method of objective function for the dynamic optimum balance of shaking forces in linkage. Int. J. Mech. Mach. Theory 29(6), 829–835 (1994)CrossRef

69.

Lowen, G.G., Berkof, R.S.: Determination of force balanced four-bar linkages with optimum shaking moment characteristics. Trans. ASME J. Eng. Ind. 93(B (1)), 39–46 (1971)CrossRef

70.

Berkof, R.S., Lowen, G.G.: Theory of shaking moment optimization of force balanced four bar linkages. Trans. ASME J. Eng. Ind. 93(B (1)), 53–60 (1971)CrossRef

71.

Arakelian, V.H., Dahan, M., Smith, M.R.: Complete shaking force and partial shaking moment balancing of planar four bar linkages. J. Multi-Body Dynam. Institut. Mech. Eng. 215, part K, 31–34 (2001)

72.

Lowen, G.G., Tepper, F.R., Berkof, R.S.: The quantitative influence of complete four balancing on the forces and moments of certain families of four bar linkages. Int. J. Mech. Mach. Theory 9(3/4), 299–323 (1974)CrossRef

73.

Haines, R.S.: PhD thesis, university of Newcastle upon Tyne, England, 156–157, 1982

74.

Kochev, I.S.: General theory of complete shaking moment balancing of planar linkages: A critical review. Int. J. Mech. Mach. Theory 35, 1501–1514 (2000)MATHMathSciNetCrossRef

75.

Turbin, B.I., Koropetz, A.A., Koropetz, Z.A.: The possibility of the shaking force balancing in the system with oscillating links. Int. J. Mech. Mach. Theory 7, 87–90 (1978)

Title: Shaking Force and Shaking Moment Balancing of Six- and Eight-Bar Planar Mechanisms
Author: Peddinti Nehemiah
Publisher: Springer International Publishing
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_6