On the addition of degrees of freedom to force-balanced linkages


Wijk, V. van der and Herder, J.L. (2013) On the addition of degrees of freedom to force-balanced linkages. In: 19th CISM-IFToMM Symposium on Robot Design, Dynamics and Control, 12-06-2012 - 15-06-2012, Paris, France (pp. 51 - 58).

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Abstract:The design of shaking-force balanced linkages can be approached by deriving these linkages from balanced linkage architectures. When desired, a possible step is to add degrees-of-freedom (dof), for instance by substituting a link with a n-dof equivalent linkage for which the balanced design of the other links is not affected. This paper shows how the coupler link of a shaking-force balanced 4R four-bar linkage, applied as a 5R five-bar linkage, can be substituted with an equivalent 2-dof pantograph.
Item Type:Conference or Workshop Item
Copyright:© 2012 Springer
Engineering Technology (CTW)
Link to this item:http://purl.utwente.nl/publications/81845
Official URL:https://doi.org/10.1007/978-3-7091-1379-0
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