文档介绍：Available online at hanism
and
Machine Theory
Mechanism and Machine Theory 43 (2008) 506–522
ate/mechmt
An optimization technique for the balancing
of spatial mechanisms
Himanshu Chaudhary *, Subir Kumar Saha
Department of Mechanical Engineering, Indian Institute of Technology Delhi, Hauz Khas, New Delhi 110 016, India
Received 12 September 2006; received in revised form 4 January 2007; accepted 21 March 2007
Available online 6 June 2007
Abstract
This paper presents a new generic optimization technique for the balancing of the shaking force and shaking moment
due to inertia forces in spatial mechanisms. For given dimensions and input speed of a mechanism, the inertia forces
depend only upon the mass distribution of the moving links. The equimomental system of seven point-masses is introduced
to represent the inertial properties of the links and to identify optimizing variables. The effectiveness of the proposed meth-
odology is illustrated using a spatial RSSR mechanism.
Ó 2007 Elsevier Ltd. All rights reserved.
Keywords: Mechanism balancing; Shaking force; Shaking moment; Equimomental system; RSSR mechanism
1. Introduction
Balancing of shaking force and shaking moment in high speed mechanisms/machines reduces the forces
transmitted to the frame. In effect, this minimizes the noise and wear, and improves the performance of a
mechanism. The balancing of shaking force has been studied by various researchers [1–15], and others. A con-
siderable amount of research on balancing of shaking force and shaking moment in planar mechanisms has
been carried out in the past [1–5]. In contrast to rapid progress in balancing theory and techniques for planar
mechanisms, the understanding of shaking force and shaking moment balancing of spatial mechanisms is very
limited. Kaufman and Sandor [6] presented plete force balancing of spatial mechanisms like (revolute–
spherical–spherical–revolute) RSSR and (revolute–spherical–spherical–prismatic) RSSP