The dynamic balancing of flexible linkages, which is a challenging topic in the dynamics of mechanisms, is accomplished by active control with redundant drives for the first time in the present study. The mathematical modal and dynamic equations of flexible mechanisms with redundant actuators are derived. The optimum shaking force and shaking moment balancing of a flexible linkage have been obtained through an active way of additional actuators. The effectiveness and advantage of redundant drives on the dynamic balancing of flexible mechanisms is fully demonstrated by an example of four-bar linkages.
Active Balancing of a Flexible Linkage With Redundant Drives
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received July 2001; rev. May 2002. Associate Editor: S. K. Agrawal.
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Yu , Y., and Lin, J. (March 21, 2003). "Active Balancing of a Flexible Linkage With Redundant Drives ." ASME. J. Mech. Des. March 2003; 125(1): 119–123. https://doi.org/10.1115/1.1543975
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