Abstract
AbstractForce and moment balancing (dynamic balancing) of rigid body linkages with constant mass links is a traditional but still very active area of research in machine dynamics and robotics. The shaking force and the shaking moment caused by all moving links can be reduced in different ways but all having a common difficulty named to derive the so-called balancing conditions, that in general can be cumbersome. In this article a novel method to find the dynamic balancing conditions based on the use of Natural Coordinates is introduced. The method is direct, efficient, and easy to automate through the application of a computer algebra system. It can be used to obtain the shaking force and the shaking moment balancing conditions for planar and spatial mechanisms.KeywordDynamic balancingParallel manipulatorsNatural Coordinates
Published Version
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