0
Research Papers

Synthesis of Dynamically Balanced Mechanisms by Using Counter-Rotary Countermass Balanced Double Pendula

[+] Author and Article Information
Volkert van der Wijk

Department of BioMechanical Engineering, Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlandsv.vanderwijk@kineticart.nl

Just L. Herder

Department of BioMechanical Engineering, Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlandsj.l.herder@tudelft.nl

J. Mech. Des 131(11), 111003 (Oct 07, 2009) (8 pages) doi:10.1115/1.3179150 History: Received November 03, 2008; Revised May 13, 2009; Published October 07, 2009

Complete dynamic balancing principles still cannot avoid a substantial increase in mass and inertia. In addition, the conditions for dynamic balance and inertia equations can be complicated to derive. This article shows how a double pendulum, which is fully dynamically balanced using counter-rotary countermasses (CRCMs) for reduced additional mass and inertia, can be used as a building element in the synthesis of dynamically balanced mechanisms. It is also shown that for these mechanisms, the balancing conditions and inertia equations can be derived quickly. For constrained mechanisms, the procedure is to first write down the known balancing conditions and inertia equations for the balanced double pendula and subsequently substitute the kinematic relations. In addition, new CRCM configurations were derived that have low inertia, a single CRCM, or all CRCMs near the base.

Copyright © 2009 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 4

With the transmission ratios k1 and k2, the double pendulum can be balanced with only one CRCM

Grahic Jump Location
Figure 5

Mounting the gear at A to link 2, the double pendulum can be balanced with two CRCMs near the base; (a) and (b) must be on top of each other with the links aligned and sharing the same axis of rotation at O

Grahic Jump Location
Figure 6

2DOF balanced parallel mechanism obtained by combination of two CRCM-balanced double pendula

Grahic Jump Location
Figure 7

Only two CRCMs are needed to balance the moment, and the other two remain as CMs (14)

Grahic Jump Location
Figure 8

Balanced 2DOF parallel mechanism by combination of a balanced double pendulum and an idler loop

Grahic Jump Location
Figure 9

By using an idler loop the 2DOF parallel manipulator can be balanced with two CRCMs near the base

Grahic Jump Location
Figure 10

Balanced crank-slider mechanism synthesized from the basic CRCM configuration

Grahic Jump Location
Figure 1

Basic CRCM-balanced double pendulum; by counter-rotating m1∗ and m2∗ the moments of, respectively, links 1 and 2 are balanced

Grahic Jump Location
Figure 2

CRCM-balanced double pendulum by using external gears

Grahic Jump Location
Figure 3

By connecting the gear at A with a second gear at O that is mounted on the base, this low inertia configuration is obtained

Grahic Jump Location
Figure 13

1DOF crank-slider mechanism without CRCMs obtained by restricting the motion of the end point of the 2DOF parallel manipulator

Grahic Jump Location
Figure 14

Balanced four-bar mechanism by combination of a CRCM-balanced double and a CRCM-balanced single pendulum

Grahic Jump Location
Figure 15

Balanced 1DOF parallelogram derived by fixing link OA of the 2DOF parallel manipulator with idler link

Grahic Jump Location
Figure 16

CRCM-balanced planar 3-RRR parallel manipulator by combining three CRCM-balanced double pendula with each one CRCM

Grahic Jump Location
Figure 17

CRCM-balanced spatial 3-RRR parallel manipulator by combining three CRCM-balanced double pendula with each one CRCM

Grahic Jump Location
Figure 11

Balanced crank-slider mechanism synthesized from the CRCM configuration with a single CRCM

Grahic Jump Location
Figure 12

Balanced crank-slider mechanism synthesized from the CRCM configuration with two CRCMs near the base

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In