Closed-chain principal vector linkages

V. van der Wijk

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

5 Citations (Scopus)


For high-speed robotics dynamic balance is an important property for low base vibrations and short cycle times. To consider dynamic balance in the beginning of the design process of a manipulator, mechanism solutions can be synthesized from principal vector linkages, which are fundamental kinematic architectures with inherent force balance. In this paper it is shown how a closedchain principal vector linkage can be analyzed as an open-chain principal vector linkage by modeling one element in a closed chain with two real and two virtual equivalent masses. The results are validated with a dynamic simulation.
Original languageUndefined
Title of host publicationNew Trends in Mechanism and Machine Science
EditorsPaulo Flores, Fernando Viadero
Place of PublicationGuimarães, Portugal
Number of pages9
ISBN (Print)978-3-319-09410-6
Publication statusPublished - 2015

Publication series

NameMechanisms and Machine Science
PublisherSpringer International Publishing
ISSN (Print)2211-0984


  • Dynamic balance
  • Principal vector linkage
  • Equivalent masses
  • METIS-304375
  • Closed chain
  • IR-92059
  • EWI-25319

Cite this

van der Wijk, V. (2015). Closed-chain principal vector linkages. In P. Flores, & F. Viadero (Eds.), New Trends in Mechanism and Machine Science (pp. 829-837). (Mechanisms and Machine Science; Vol. 24). Guimarães, Portugal: Springer.