A screw-based dynamic balancing approach, applied to a 5-bar mechanism

Jan Johannes de Jong; Johannes van Dijk; Justus Laurens Herder

doi:10.1007/978-3-319-56802-7_4

A screw-based dynamic balancing approach, applied to a 5-bar mechanism

Jan Johannes de Jong, Johannes van Dijk, Justus Laurens Herder

Faculty of Engineering Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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Abstract

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.

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	https://doi.org/10.1007/978-3-319-56802-7_4
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	https://www-sop.inria.fr/hephaistos/Congress/ARK2016/

Keywords

IR-101105
METIS-317731

Access to Document

10.1007/978-3-319-56802-7_4

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de Jong, J. J., van Dijk, J., & Herder, J. L. (2016). A screw-based dynamic balancing approach, applied to a 5-bar mechanism. In J. Lenarcic, & J-P. Merlet (Eds.), Proceedings of the ARK2016, the 15th Conference Advances in Robot Kinematics (pp. 31-38). IFToMM. https://doi.org/10.1007/978-3-319-56802-7_4

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title = "A screw-based dynamic balancing approach, applied to a 5-bar mechanism",

abstract = "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.",

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author = "{de Jong}, {Jan Johannes} and {van Dijk}, Johannes and Herder, {Justus Laurens}",

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de Jong, JJ, van Dijk, J & Herder, JL 2016, A screw-based dynamic balancing approach, applied to a 5-bar mechanism. in J Lenarcic & J-P Merlet (eds), Proceedings of the ARK2016, the 15th Conference Advances in Robot Kinematics. IFToMM, pp. 31-38, 15th International Symposium on Advances in Robot Kinematics, ARK 2016, Grasse, France, 27/06/16. https://doi.org/10.1007/978-3-319-56802-7_4

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

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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.

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