Abstracto
- Shaking moment balancing of force-balanced mechanisms is typically achieved by the use of counter-inertias that, in general, are very large. This leads to a substantial increase in the total mass of the linkage. In opposition to these traditional methods a novel, simple and direct method that takes advantage of actuation redundancy is proposed. The method can be generalized to any force balanced planar mechanism and is based on the solution of the inverse dynamics problem. The method is exemplified through the shaking moment balancing of a four-bar mechanism, previously balanced by force, following a didactic approach. Effectiveness of the method is verified by dynamic simulation.