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

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

doi:10.1007/978-3-319-93188-3_32

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

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

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-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 language	English
Title of host publication	Advances in Robot Kinematics 2018
Subtitle of host publication	International Symposium on Advances in Robot Kinematics
Editors	Jadran Lenarcic, Vincenzo Parenti-Castelli
Publisher	Springer
Pages	277-284
ISBN (Electronic)	978-3-319-93188-3
ISBN (Print)	978-3-319-93187-6
DOIs	https://doi.org/10.1007/978-3-319-93188-3_32
Publication status	Published - 2019
Event	16th International Symposium on Advances in Robot Kinematics, ARK 2018 - Department of Industrial Engineering of the University of Bologna, Bologna, Italy Duration: 1 Jul 2018 → 5 Jul 2018 Conference number: 16 https://events.unibo.it/ark2018

Publication series

Name	Springer Proceedings in Advanced Robotics
Volume	8

Conference

Conference	16th International Symposium on Advances in Robot Kinematics, ARK 2018
Abbreviated title	ARK 2018
Country	Italy
City	Bologna
Period	1/07/18 → 5/07/18
Internet address	https://events.unibo.it/ark2018

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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.",

author = "{de Jong}, {Jan Johannes} and Yuanqing Wu and Marco Carricato and Herder, {Justus Laurens}",

year = "2019",

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series = "Springer Proceedings in Advanced Robotics",

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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 proceeding › Conference contribution › Academic › peer-review

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AB - 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. 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