Spatial orientations of principal vector planes for inherent dynamic balancing

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Abstract

IThe spatial orientations of the planes defined by principal vectors of the pantograph, the closed 4-principal vector linkage, and the grand 4R four-bar based inherently balanced linkage architecture are investigated in this paper. These principal vector planes form the basis for the synthesis of planar and spatial inherently balanced linkages, i.e. linkages derived with balance as starting point in the design process of which the center of mass is in an invariant point in one of the links. It is shown that a pantograph consists of a single plane of principal vectors, the 4-principal vector linkage consists of three planes of principal vectors, and the grand 4R four-bar based inherently balanced linkage architecture consists of ten planes of principal vectors with four parallel sets. It is shown how the principal vector planes can be used for synthesis by example of a spatial inherently balanced double Bennett linkage.
Original languageEnglish
Title of host publicationAdvances in Robot Kinematics 2018
Subtitle of host publicationConference Proceedings
EditorsJadran Lenarcic, Vincenzo Parenti-Castelli
Place of PublicationCham, Switzerland
PublisherSpringer
Pages302-309
ISBN (Electronic)978-3-319-93188-3
ISBN (Print)978-3-319-93187-6
DOIs
Publication statusPublished - 2018
EventARK 2018: International Symposium on Advances in Robot Kinematics - Bologna, Italy
Duration: 1 Jul 20185 Jul 2018

Publication series

NameSpringer Proceedings in Advanced Robotics
Volume8
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264

Conference

ConferenceARK 2018: International Symposium on Advances in Robot Kinematics
CountryItaly
CityBologna
Period1/07/185/07/18

Keywords

  • Inherent balance
  • Principal vectors
  • Center of mass

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