Abstract
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the ARK2016, the 15th Conference Advances in Robot Kinematics |
| Editors | Jadran Lenarcic, Jean-Pierre Merlet |
| Publisher | IFToMM |
| Pages | 31-38 |
| ISBN (Electronic) | 978-3-319-56802-7 |
| ISBN (Print) | 978-3-319-56801-0 |
| DOIs | |
| Publication status | Published - 27 Jun 2016 |
| Event | 15th International Symposium on Advances in Robot Kinematics, ARK 2016 - Grasse, France Duration: 27 Jun 2016 → 30 Jun 2016 Conference number: 15 https://www-sop.inria.fr/hephaistos/Congress/ARK2016/ |
Conference
| Conference | 15th International Symposium on Advances in Robot Kinematics, ARK 2016 |
|---|---|
| Abbreviated title | ARK 2016 |
| Country | France |
| City | Grasse |
| Period | 27/06/16 → 30/06/16 |
| Internet address |
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Keywords
- IR-101105
- METIS-317731
Cite this
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A screw-based dynamic balancing approach, applied to a 5-bar mechanism. / de Jong, Jan Johannes; van Dijk, Johannes; Herder, Justus Laurens.
Proceedings of the ARK2016, the 15th Conference Advances in Robot Kinematics. ed. / Jadran Lenarcic; Jean-Pierre Merlet. IFToMM, 2016. p. 31-38.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
TY - GEN
T1 - A screw-based dynamic balancing approach, applied to a 5-bar mechanism
AU - de Jong, Jan Johannes
AU - van Dijk, Johannes
AU - Herder, Justus Laurens
PY - 2016/6/27
Y1 - 2016/6/27
N2 - Dynamic balancing aims to reduce or eliminate the shaking base reaction forces and moments of mechanisms, in order to minimize vibration and wear. The derivation of the dynamic balance conditions requires significant algebraic effort, even for simple mechanisms. In this study, a screw-based balancing methodology is proposed and applied to a 5-bar mechanism. The method relies on four steps: 1) representation of the links’ inertias into point masses, 2) finding the conditions for these point masses which result in dynamic balance in one given pose (instantaneous balance), 3) extending these conditions over the workspace to achieve global balance, 4) converting the point mass representation back to feasible inertias. These four steps are applied to a 5-bar mechanism in order to obtain the conditions which ensure complete force balance and additional moment balance over multiple trajectories. Using this methodology, six out of the eight balancing conditions are found directly from the momentum equations.
AB - Dynamic balancing aims to reduce or eliminate the shaking base reaction forces and moments of mechanisms, in order to minimize vibration and wear. The derivation of the dynamic balance conditions requires significant algebraic effort, even for simple mechanisms. In this study, a screw-based balancing methodology is proposed and applied to a 5-bar mechanism. The method relies on four steps: 1) representation of the links’ inertias into point masses, 2) finding the conditions for these point masses which result in dynamic balance in one given pose (instantaneous balance), 3) extending these conditions over the workspace to achieve global balance, 4) converting the point mass representation back to feasible inertias. These four steps are applied to a 5-bar mechanism in order to obtain the conditions which ensure complete force balance and additional moment balance over multiple trajectories. Using this methodology, six out of the eight balancing conditions are found directly from the momentum equations.
KW - IR-101105
KW - METIS-317731
U2 - 10.1007/978-3-319-56802-7_4
DO - 10.1007/978-3-319-56802-7_4
M3 - Conference contribution
SN - 978-3-319-56801-0
SP - 31
EP - 38
BT - Proceedings of the ARK2016, the 15th Conference Advances in Robot Kinematics
A2 - Lenarcic, Jadran
A2 - Merlet, Jean-Pierre
PB - IFToMM
ER -