Design method of a planar static balancer using a motion matrix

摘要

This paper presents a design method of a static balancer using a motion matrix, which represents possible joint motions of a target mechanism. When the space mapping method is applied, several computations (e.g., partial differentiation of the potential energy function and decomposition of eigenvalues) are necessary. We suggest a design method that the mapping matrix of the space mapping method is derived from the motion matrix with no computations. The motion matrix is determined from the concept of mobility and connectivity. The motion matrix is modified in the viewpoint of static balancing to obtain the mapping matrix. It is also shown that a mapping matrix is generated by combining motion matrices. The proposed design method using the motion matrix is verified with planar mechanisms.