Inherently balanced 4R four-bar based linkages

V. van der Wijk; Justus Laurens Herder

doi:10.1007/978-94-007-4620-6

Inherently balanced 4R four-bar based linkages

V. van der Wijk, Justus Laurens Herder

Faculty of Engineering Technology

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

10 Citations (Scopus)

4 Downloads (Pure)

Abstract

Synthesis of mechanisms with their center of mass (CoM) at an invariant point on one of the elements is useful for the design of statically balanced and shaking-force balanced mechanisms and manipulators. For this purpose, a kinematic architecture based on a general 4R four-bar linkage is found by applying the method of principal vectors as a linkage together with a similar four-bar linkage. The balance conditions are obtained for an arbitrary mass distribution of each of the elements and a balanced grasper mechanism and a balanced two-degree-of-freedom manipulator are derived as practical examples

Original language	Undefined
Title of host publication	Proceedings of the IFToMM 13th International Symposium on Avances in Robot Kinematics
Editors	J. Lenarcis, M. Husty
Place of Publication	Innsbruck, Austria
Publisher	Springer
Pages	309-316
ISBN (Print)	978-94-007-4619-0
DOIs	https://doi.org/10.1007/978-94-007-4620-6
Publication status	Published - 24 Jun 2012
Event	13th International Symposium on Advances in Robot Kinematics, ARK 2012 - Innsbruck, Austria Duration: 24 Jun 2012 → 28 Jun 2012 Conference number: 13 http://geometrie.uibk.ac.at/ark2012/

Publication series

Name
Publisher	Springer

Conference

Conference	13th International Symposium on Advances in Robot Kinematics, ARK 2012
Abbreviated title	ARK
Country/Territory	Austria
City	Innsbruck
Period	24/06/12 → 28/06/12
Internet address	http://geometrie.uibk.ac.at/ark2012/

Keywords

METIS-288468
IR-81847

Access to Document

10.1007/978-94-007-4620-6

Cite this

@inproceedings{9500a646bc5348f7840fa55712dd3966,

title = "Inherently balanced 4R four-bar based linkages",

abstract = "Synthesis of mechanisms with their center of mass (CoM) at an invariant point on one of the elements is useful for the design of statically balanced and shaking-force balanced mechanisms and manipulators. For this purpose, a kinematic architecture based on a general 4R four-bar linkage is found by applying the method of principal vectors as a linkage together with a similar four-bar linkage. The balance conditions are obtained for an arbitrary mass distribution of each of the elements and a balanced grasper mechanism and a balanced two-degree-of-freedom manipulator are derived as practical examples",

keywords = "METIS-288468, IR-81847",

author = "{van der Wijk}, V. and Herder, {Justus Laurens}",

year = "2012",

month = jun,

day = "24",

doi = "10.1007/978-94-007-4620-6",

language = "Undefined",

isbn = "978-94-007-4619-0",

publisher = "Springer",

pages = "309--316",

editor = "J. Lenarcis and M. Husty",

booktitle = "Proceedings of the IFToMM 13th International Symposium on Avances in Robot Kinematics",

address = "Germany",

note = "13th International Symposium on Advances in Robot Kinematics, ARK 2012 ; Conference date: 24-06-2012 Through 28-06-2012",

url = "http://geometrie.uibk.ac.at/ark2012/",

}

van der Wijk, V & Herder, JL 2012, Inherently balanced 4R four-bar based linkages. in J Lenarcis & M Husty (eds), Proceedings of the IFToMM 13th International Symposium on Avances in Robot Kinematics. Springer, Innsbruck, Austria, pp. 309-316, 13th International Symposium on Advances in Robot Kinematics, ARK 2012, Innsbruck, Austria, 24/06/12. https://doi.org/10.1007/978-94-007-4620-6

Inherently balanced 4R four-bar based linkages. / van der Wijk, V.; Herder, Justus Laurens.
Proceedings of the IFToMM 13th International Symposium on Avances in Robot Kinematics. ed. / J. Lenarcis; M. Husty. Innsbruck, Austria: Springer, 2012. p. 309-316.

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

TY - GEN

T1 - Inherently balanced 4R four-bar based linkages

AU - van der Wijk, V.

AU - Herder, Justus Laurens

N1 - Conference code: 13

PY - 2012/6/24

Y1 - 2012/6/24

N2 - Synthesis of mechanisms with their center of mass (CoM) at an invariant point on one of the elements is useful for the design of statically balanced and shaking-force balanced mechanisms and manipulators. For this purpose, a kinematic architecture based on a general 4R four-bar linkage is found by applying the method of principal vectors as a linkage together with a similar four-bar linkage. The balance conditions are obtained for an arbitrary mass distribution of each of the elements and a balanced grasper mechanism and a balanced two-degree-of-freedom manipulator are derived as practical examples

AB - Synthesis of mechanisms with their center of mass (CoM) at an invariant point on one of the elements is useful for the design of statically balanced and shaking-force balanced mechanisms and manipulators. For this purpose, a kinematic architecture based on a general 4R four-bar linkage is found by applying the method of principal vectors as a linkage together with a similar four-bar linkage. The balance conditions are obtained for an arbitrary mass distribution of each of the elements and a balanced grasper mechanism and a balanced two-degree-of-freedom manipulator are derived as practical examples

KW - METIS-288468

KW - IR-81847

U2 - 10.1007/978-94-007-4620-6

DO - 10.1007/978-94-007-4620-6

M3 - Conference contribution

SN - 978-94-007-4619-0

SP - 309

EP - 316

BT - Proceedings of the IFToMM 13th International Symposium on Avances in Robot Kinematics

A2 - Lenarcis, J.

A2 - Husty, M.

PB - Springer

CY - Innsbruck, Austria

T2 - 13th International Symposium on Advances in Robot Kinematics, ARK 2012

Y2 - 24 June 2012 through 28 June 2012

ER -