On the development of low mass shaking force balanced manipulators

V. van der Wijk, Justus Laurens Herder

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

Abstract

Whenever mechanisms have to run at high speeds, dynamic balancing (shaking force and shaking moment balancing) becomes an important issue to reduce machine vibrations. This article considers Fischer’s method of principal vectors for shaking force balancing with low mass addition. A method based on linear momentum equations and Equivalent Linear Momentum Systems is proposed to calculate the principal vectors for all mechanism elements having an arbitrary mass distribution. A planar serial chain of three bodies, and a planar serial chain of four bodies are studied. The theory is verified experimentally for a planar serial chain of five bodies
Original languageUndefined
Title of host publicationProceedings of the IFToMM 12 th International Symposium on Advances in Robot Kinematics
EditorsJadran Lenarcic, Michael M. Stanisic
Place of PublicationPiran Portoroz, Slovenia
PublisherSpringer
Pages411-420
ISBN (Print)978-90-481-9261-8
DOIs
Publication statusPublished - 27 Jun 2010
Event12th International Symposium on Advances in Robot Kinematics, ARK 2010 - Portorož, Slovenia
Duration: 27 Jun 20101 Jul 2010
Conference number: 12

Publication series

Name
PublisherSpringer

Conference

Conference12th International Symposium on Advances in Robot Kinematics, ARK 2010
Abbreviated titleARK
CountrySlovenia
CityPortorož
Period27/06/101/07/10

Keywords

  • IR-90598
  • METIS-267569

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