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 |
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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 | |
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 |
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Volume | 8 |
Conference
Conference | 16th International Symposium on Advances in Robot Kinematics, ARK 2018 |
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Abbreviated title | ARK 2018 |
Country/Territory | Italy |
City | Bologna |
Period | 1/07/18 → 5/07/18 |
Internet address |
Keywords
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