A new force balancing method called adjusting kinematic parameters (AKP) method for real-time controllable (RTC) mechanisms is proposed in this paper. The principle and design equations to form force balanced mechanisms are described in detail, and the implementation of the AKP method is presented where two pivots on a link are adjustable. Simulation studies show that the AKP method is consistently better than the CW method for closed-loop RTC mechanisms.

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