Partial shaking moment balancing of fully force balanced linkages

摘要

This paper deals with a solution of the shaking force and shaking moment balancing of planar and spatial linkages. The conditions for balancing are formulated by the minimization of the root-mean-square value of the shaking moment. There are two cases considered: mechanism with the input link by constant angular velocity and mechanism with the input link by variable angular velocity. The method is realized by displacement of the axis of rotation of the input link connected with the counterweight. The efficiency of the suggested method is illustrated by two numerical examples: planar four-bar linkage and RSS'R spatial linkage.