Abstract
Force balance is an important property in the design of high-speed high precision machinery to reduce base vibrations and also for the design of inherently safe large movable structures. This paper presents the synthesis of inherently balanced overconstrained focal mechanisms with mass equivalent pantographs. It is shown how pantograph linkages can be combined into an overconstrained but movable linkage by connecting them in their similarity points. With mass equivalent modeling the force balance conditions are derived for which the common center of mass is in the focal point for any motion. As examples Burmester’s focal mechanism is investigated for balance and a new balanced focal mechanism of three mass equivalent pantographs is presented.
Original language | English |
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Title of host publication | Advances in robot kinematics: Proceedings of the 15th conference on Advances in Robot Kinematics (ARK) |
Editors | Jadran Lenarcic, Jean-Pierre Merlet |
Place of Publication | Grasse, France |
Pages | 3-11 |
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 |
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Abbreviated title | ARK 2016 |
Country/Territory | France |
City | Grasse |
Period | 27/06/16 → 30/06/16 |
Internet address |
Keywords
- METIS-319117
- IR-102660