Minimization of Shaking Moment in Fully Force Balanced Planar Four-Bar Linkages

Abstract

This paper deals with a solution of shaking force and shaking moment balancing of planar four-bar linkages. The shaking moment balancing is realized by displacement of the axis of rotation of the counterweight connected with the input link. The conditions for balancing are formulated by the minimization of the root-mean-square value of the shaking moment. This approach is well known. However, the paper describes another of its properties. It is about the choice of the shaking force balancing solution, which significantly affects the minimization of the shaking moment. It is well known that the shaking force in four-bar linkages can be balanced in various ways. The aim of this paper is to show that the choice of the balancing scheme of shaking forces can influence the minimization of shaking moment. To show this difference, two balancing schemes are compared: by two and three counterweights. It is shown that the application of the mentioned balancing technique for minimization of the shaking moment is more efficient for shaking forces balancing by three counterweights. Numerical simulations carried out via ADAMS software illustrate the mentioned observations.