Techniques for Synthesis of Inherently Force Balanced Mechanisms

Lorenzo Girgenti, Volkert van der Wijk*

*Corresponding author for this work

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


Compared to common dynamic balancing approaches, Inherent Dynamic Balancing aims at designing mechanisms with dynamic balance as a starting point. Then inherently balanced principal vector linkage architectures are used from which balanced linkage solutions are derived, ensuring the optimal kinematics for motions with a center of mass that is always stationary. This paper addresses various techniques for modifying principal vector linkage architectures in the synthesis process while maintaining the inherent balance. The techniques consist of constraining the mobility of links, shifting links to another position, and exchanging links with other machine elements such as sliders, gears, and belt and chain drives. To illustrate the potential, a synthesized 2-DoF inherently force balanced mechanism solution incorporating various techniques is presented and numerically evaluated for force balance.

Original languageEnglish
Title of host publicationROMANSY 24 - Robot Design, Dynamics and Control
Subtitle of host publicationProceedings of the 24th CISM IFToMM Symposium
EditorsAndrés Kecskeméthy, Vincenzo Parenti-Castelli
ISBN (Electronic)978-3-031-06409-8
ISBN (Print)978-3-031-06408-1
Publication statusPublished - 2022
EventROMANSY: 24th CISM IFToMM Symposium - Udine, Italy
Duration: 4 Jul 20227 Jul 2022

Publication series

NameCISM International Centre for Mechanical Sciences, Courses and Lectures
ISSN (Print)0254-1971
ISSN (Electronic)2309-3706


ConferenceROMANSY: 24th CISM IFToMM Symposium


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