The input torque in linkages

Abstract

This paper reviews the various principles which have been used to obtain an analytic expression for the input torque of linkages. The simplest formulation appears to be a concise kinetic energy derivative, from which a simple expression is derived for the input torque of an inline force-balanced 4-bar linkage. All mass effects due to linear and rotary inertia components are included. The relationship between input torque, shaking moment, and moment of ground bearing forces then becomes apparent. Torque balancing is of interest, so the least-square minimization of the input torque by internal mass redistribution is discussed.