A pure-inertia method for dynamic balancing of symmetric planar mechanisms

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A pure-inertia method for dynamic balancing of symmetric planar mechanisms

Conference Paper (2018)

Author(s)

Jan J. de Jong (University of Twente)

Yuanqing Wu (University of Bologna)

Marco Carricato (University of Bologna)

Just Herder (University of Twente, TU Delft - Mechanical Engineering)

Department

Precision and Microsystems Engineering

Dynamic balance Dynamic equivalence Equimomental systems Pure-inertia method Symmetric space

DOI related publication

https://doi.org/10.1007/978-3-319-93188-3_32 Final published version

To reference this document use

https://resolver.tudelft.nl/uuid:c089358c-69ca-4275-a53a-7c0e2b1fc3a8

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Publication Year

2018

Language

English

Department

Precision and Microsystems Engineering

Pages (from-to)

277-284

Publisher

Springer

ISBN (print)

978-3-319-93187-6

ISBN (electronic)

978-3-319-93188-3

Event

ARK 2018: International Symposium on Advances in Robot Kinematics (2018-07-01 - 2018-07-05), Bologna, Italy

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118

Abstract

In this paper, we present a novel method for the dynamic balance of planar mechanisms, by transforming a mechanism into a dynamically equivalent form where all links have zero mass but non-zero moment of inertia. The dynamic balance of such pure-inertia systems is shown to be governed by mirror symmetry that cancels out the system’s total angular momentum. Our method not only covers well-known dynamically balanced 1-DOF mechanisms, such as the slider-crank and four-bar linkages, but also leads to the discovery of a novel dynamically balanced 2-DOF planar mechanism.