A pure-inertia method for dynamic balancing of symmetric planar mechanisms

Jan Johannes de Jong, Yuanqing Wu, Marco Carricato, Justus Laurens Herder

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Abstract

In this paper, we present a novel method for the dynamic balance of planar mechanisms, by transforming a mechanism into a dynamically equivalent form where all links have zero mass but non-zero moment of inertia. The dynamic balance of such pure-inertia systems is shown to be governed by mirror symmetry that cancels out the system’s total angular momentum. Our method not only covers well-known dynamically balanced 1-DOF mechanisms, such as the slider-crank and four-bar linkages, but also leads to the discovery of a novel dynamically balanced 2-DOF planar mechanism.
Original languageEnglish
Title of host publicationAdvances in Robot Kinematics 2018
Subtitle of host publicationInternational Symposium on Advances in Robot Kinematics
EditorsJadran Lenarcic, Vincenzo Parenti-Castelli
PublisherSpringer
Pages277-284
ISBN (Electronic)978-3-319-93188-3
ISBN (Print)978-3-319-93187-6
DOIs
Publication statusPublished - 2019
Event16th International Symposium on Advances in Robot Kinematics, ARK 2018 - Department of Industrial Engineering of the University of Bologna, Bologna, Italy
Duration: 1 Jul 20185 Jul 2018
Conference number: 16
https://events.unibo.it/ark2018

Publication series

NameSpringer Proceedings in Advanced Robotics
Volume8

Conference

Conference16th International Symposium on Advances in Robot Kinematics, ARK 2018
Abbreviated titleARK 2018
CountryItaly
CityBologna
Period1/07/185/07/18
Internet address

Fingerprint

Angular momentum
Mirrors

Cite this

de Jong, J. J., Wu, Y., Carricato, M., & Herder, J. L. (2019). A pure-inertia method for dynamic balancing of symmetric planar mechanisms. In J. Lenarcic, & V. Parenti-Castelli (Eds.), Advances in Robot Kinematics 2018: International Symposium on Advances in Robot Kinematics (pp. 277-284). (Springer Proceedings in Advanced Robotics; Vol. 8). Springer. https://doi.org/10.1007/978-3-319-93188-3_32
de Jong, Jan Johannes ; Wu, Yuanqing ; Carricato, Marco ; Herder, Justus Laurens. / A pure-inertia method for dynamic balancing of symmetric planar mechanisms. Advances in Robot Kinematics 2018: International Symposium on Advances in Robot Kinematics. editor / Jadran Lenarcic ; Vincenzo Parenti-Castelli. Springer, 2019. pp. 277-284 (Springer Proceedings in Advanced Robotics).
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title = "A pure-inertia method for dynamic balancing of symmetric planar mechanisms",
abstract = "In this paper, we present a novel method for the dynamic balance of planar mechanisms, by transforming a mechanism into a dynamically equivalent form where all links have zero mass but non-zero moment of inertia. The dynamic balance of such pure-inertia systems is shown to be governed by mirror symmetry that cancels out the system’s total angular momentum. Our method not only covers well-known dynamically balanced 1-DOF mechanisms, such as the slider-crank and four-bar linkages, but also leads to the discovery of a novel dynamically balanced 2-DOF planar mechanism.",
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de Jong, JJ, Wu, Y, Carricato, M & Herder, JL 2019, A pure-inertia method for dynamic balancing of symmetric planar mechanisms. in J Lenarcic & V Parenti-Castelli (eds), Advances in Robot Kinematics 2018: International Symposium on Advances in Robot Kinematics. Springer Proceedings in Advanced Robotics, vol. 8, Springer, pp. 277-284, 16th International Symposium on Advances in Robot Kinematics, ARK 2018, Bologna, Italy, 1/07/18. https://doi.org/10.1007/978-3-319-93188-3_32

A pure-inertia method for dynamic balancing of symmetric planar mechanisms. / de Jong, Jan Johannes; Wu, Yuanqing ; Carricato, Marco; Herder, Justus Laurens.

Advances in Robot Kinematics 2018: International Symposium on Advances in Robot Kinematics. ed. / Jadran Lenarcic; Vincenzo Parenti-Castelli. Springer, 2019. p. 277-284 (Springer Proceedings in Advanced Robotics; Vol. 8).

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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de Jong JJ, Wu Y, Carricato M, Herder JL. A pure-inertia method for dynamic balancing of symmetric planar mechanisms. In Lenarcic J, Parenti-Castelli V, editors, Advances in Robot Kinematics 2018: International Symposium on Advances in Robot Kinematics. Springer. 2019. p. 277-284. (Springer Proceedings in Advanced Robotics). https://doi.org/10.1007/978-3-319-93188-3_32