Techniques for Synthesis of Inherently Force Balanced Mechanisms

Lorenzo Girgenti; Volkert van der Wijk

doi:10.1007/978-3-031-06409-8_28

Techniques for Synthesis of Inherently Force Balanced Mechanisms

Lorenzo Girgenti, Volkert van der Wijk^*

^*Corresponding author for this work

Mechatronic Systems Design

Research output: Chapter in Book/Conference proceedings/Edited volume › Chapter › Scientific › peer-review

Abstract

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 language	English
Title of host publication	ROMANSY 24 - Robot Design, Dynamics and Control
Subtitle of host publication	Proceedings of the 24th CISM IFToMM Symposium
Editors	Andrés Kecskeméthy, Vincenzo Parenti-Castelli
Publisher	Springer
Pages	263-271
ISBN (Electronic)	978-3-031-06409-8
ISBN (Print)	978-3-031-06408-1
DOIs	https://doi.org/10.1007/978-3-031-06409-8_28
Publication status	Published - 2022
Event	ROMANSY: 24th CISM IFToMM Symposium - Udine, Italy Duration: 4 Jul 2022 → 7 Jul 2022

Publication series

Name	CISM International Centre for Mechanical Sciences, Courses and Lectures
Volume	606
ISSN (Print)	0254-1971
ISSN (Electronic)	2309-3706

Conference

Conference	ROMANSY: 24th CISM IFToMM Symposium
Country/Territory	Italy
City	Udine
Period	4/07/22 → 7/07/22

Access to Document

10.1007/978-3-031-06409-8_28

Cite this

Girgenti, L., & van der Wijk, V. (2022). Techniques for Synthesis of Inherently Force Balanced Mechanisms. In A. Kecskeméthy, & V. Parenti-Castelli (Eds.), ROMANSY 24 - Robot Design, Dynamics and Control : Proceedings of the 24th CISM IFToMM Symposium (pp. 263-271). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 606). Springer. https://doi.org/10.1007/978-3-031-06409-8_28

Girgenti, Lorenzo ; van der Wijk, Volkert. / Techniques for Synthesis of Inherently Force Balanced Mechanisms. ROMANSY 24 - Robot Design, Dynamics and Control : Proceedings of the 24th CISM IFToMM Symposium. editor / Andrés Kecskeméthy ; Vincenzo Parenti-Castelli. Springer, 2022. pp. 263-271 (CISM International Centre for Mechanical Sciences, Courses and Lectures).

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abstract = "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.",

author = "Lorenzo Girgenti and {van der Wijk}, Volkert",

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booktitle = "ROMANSY 24 - Robot Design, Dynamics and Control",

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Girgenti, L & van der Wijk, V 2022, Techniques for Synthesis of Inherently Force Balanced Mechanisms. in A Kecskeméthy & V Parenti-Castelli (eds), ROMANSY 24 - Robot Design, Dynamics and Control : Proceedings of the 24th CISM IFToMM Symposium. CISM International Centre for Mechanical Sciences, Courses and Lectures, vol. 606, Springer, pp. 263-271, ROMANSY: 24th CISM IFToMM Symposium, Udine, Italy, 4/07/22. https://doi.org/10.1007/978-3-031-06409-8_28

Techniques for Synthesis of Inherently Force Balanced Mechanisms. / Girgenti, Lorenzo; van der Wijk, Volkert.
ROMANSY 24 - Robot Design, Dynamics and Control : Proceedings of the 24th CISM IFToMM Symposium. ed. / Andrés Kecskeméthy; Vincenzo Parenti-Castelli. Springer, 2022. p. 263-271 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 606).

Research output: Chapter in Book/Conference proceedings/Edited volume › Chapter › Scientific › peer-review

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AB - 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.

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Girgenti L, van der Wijk V. Techniques for Synthesis of Inherently Force Balanced Mechanisms. In Kecskeméthy A, Parenti-Castelli V, editors, ROMANSY 24 - Robot Design, Dynamics and Control : Proceedings of the 24th CISM IFToMM Symposium. Springer. 2022. p. 263-271. (CISM International Centre for Mechanical Sciences, Courses and Lectures). doi: 10.1007/978-3-031-06409-8_28