Abstract
The direction of the joint force acting on each pair of high-speed link mechanisms may change suddenly. This causes separation and collision of paired elements, and abrasion of the elements. These problems become more serious for joints moving in space, for their lubricant conditions tend to be poor compared with joints fixed to a base. Therefore, it is important in the dynamic design of the mechanism to control sudden changes of direction at the joints moving in space. This paper deals with two methods of dynamic design in order to control sudden changes of the direction of the crank -pin joint force on a crank-lever mechanism through the redistribution of the mass of each link. Examples of the design and the effect of this control are shown. A force sensor with strain gauges is made and the magnitude and the direction of the joint force are measured to confirm the theoretical results experimentally.
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