Optimum Dynamic Balancing of Adjustable Planar Linkages by Mass Redistribution
Date Issued
2011
Date
2011
Author(s)
Teng, Chiao-Mei
Abstract
This study presents the optimum dynamic balancing of adjustable planar n-bar linkages, which is considered a series of 4-bar linkages, for the trade-off of dynamic performance improvement between every adjustment state by mass redistribution. First, the kinematics is analyzed using the vector loop closure equations. Subsequently, joint forces and driving torque are formulated in sequence using Newton-Euler equations of motion. They are calculated reversely and recursively, and the driving torque is last determined. Then, the optimization problem for improving the dynamic performances is posed. Finally, two examples, including an 6-bar and 8-bar linkages with constant drive speed and adjustable fixed pivots, are given to demonstrate the feasibility of this study. Two situations which are with and without external loads are involved in both examples. In order to take the effect of external loads into account, the frame status is evaluated by the frame force and moment instead of shaking force and shaking moment in this study. The result of examples shows that the bearing forces, adjustable pivot forces, driving torque, frame force and moment are improved in every state. This study could be applied to the design of mass properties of serial planar n-bar linkages, and promote the research on dynamic balancing and the practical application of adjustable linkages.
Subjects
dynamic balancing
adjustable planar n-bar linkages
mass redistribution
optimization
shaking force
shaking moment
Type
thesis
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