Mass equivalent pantographs for synthesis of balanced focal mechanisms

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Force balance is an important property in the design of high-speed high precision machinery to reduce base vibrations and also for the design of inherently safe large movable structures. This paper presents the synthesis of inherently balanced overconstrained focal mechanisms with mass equivalent pantographs. It is shown how pantograph linkages can be combined into an overconstrained but movable linkage by connecting them in their similarity points. With mass equivalent modeling the force balance conditions are derived for which the common center of mass is in the focal point for any motion. As examples, Burmester’s focal mechanism is investigated for balance and a new balanced focal mechanism of three mass equivalent pantographs is presented.
Original languageEnglish
Title of host publicationAdvances in Robot Kinematics 2016
EditorsJ. Lenarčič, J.P. Merlet
Place of PublicationCham, Switzerland
ISBN (Print)978-3-319-56801-0
Publication statusPublished - 2017
EventAdvances in Robot Kinematics 2016: 15th ARK conference - Grasse, France
Duration: 27 Jun 201630 Jun 2016

Publication series

NameSpringer Proceedings in Advanced Robotics (SPAR)


ConferenceAdvances in Robot Kinematics 2016


  • Focal mechanism
  • Pantograph
  • Burmester
  • Force balance
  • Mass equivalence


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