文档介绍：Available online at hanism
and
Machine Theory
Mechanism and Machine Theory 43 (2008) 310–334
ate/mechmt
Balancing of shaking forces and shaking moments for
planar mechanisms using the equimomental systems
Himanshu Chaudhary *, Subir Kumar Saha
Department of Mechanical Engineering, Indian Institute of Technology Delhi, Hauz Khas, New Delhi 110016, India
Received 30 March 2006; received in revised form 27 March 2007; accepted 6 April 2007
Available online 7 June 2007
Abstract
A general mathematical formulation of optimization problem for balancing of planar mechanisms is presented in this
paper. The inertia properties of mechanisms are represented by dynamically equivalent systems, referred as equimomental
systems, of point-masses to identify design variables and formulate constraints. A set of three equimomental point-masses
for each link is proposed. In order to determine the shaking forces and the shaking moments, the dynamic equations of
motion for mechanisms are formulated systematically in the parameters related to the equimomental point-masses. The
formulation leads to an optimization scheme for the mass distribution to improve the dynamic performances of mecha-
nisms. The method is illustrated with two examples. Balancing bined shaking force and shaking moment shows
a significant improvement in the dynamic pared to that of the original mechanisms.
Ó 2007 Elsevier Ltd. All rights reserved.
Keywords: Multiloop mechanism; Optimization; Shaking force; Shaking moment; Equimomental system
1. Introduction
Balancing of shaking forces and shaking moments in mechanisms is important in order to improve their
dynamic performances and fatigue life by reducing vibration, noise and wear. Several methods are developed
to eliminate the shaking forces and shaking moments in planar mechanisms. The methods pletely elim-
inate the shaking force are generally based on making the total mass centre of a mechanism stationary. Dif-
ferent technique