Inherently balanced 4R four-bar based linkages


Wijk, V. van der and Herder, J.L. (2012) Inherently balanced 4R four-bar based linkages. In: IFToMM 13th International Symposium on Advances in Robot Kinematics, 24-06-2012 - 28-06-2012, Innsbruck, Austria (pp. 309 - 316).

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Abstract:Synthesis of mechanisms with their center of mass (CoM) at an invariant point on one of the elements is useful for the design of statically balanced and shaking-force balanced mechanisms and manipulators. For this purpose, a kinematic architecture based on a general 4R four-bar linkage is found by applying the method of principal vectors as a linkage together with a similar four-bar linkage. The balance conditions are obtained for an arbitrary mass distribution of each of the elements and a balanced grasper mechanism and a balanced two-degree-of-freedom manipulator are derived as practical examples
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Engineering Technology (CTW)
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