Theoretical And Experimental Study On The Dynamic Balancing Of Flexible Mechanisms

The dynamic balancing of flexible mechanisms which is an advanced topic in the field of mechanisms is studied in this thesis. Both active and passive methods are used to deal with the problem. In the first part, the dynamic balancing of flexible mechanisms is investigated theoretically by adding springs at first, and then studied based on experiments for the first time. The effect of additional springs on the dynamic balancing of flexible mechanisms is further illustrated through an example of 4R four-bar linkage. The theoretical and experimental results show that the dynamic balancing of flexible mechanisms can be well achieved by adding springs. In the second part, the dynamic balancing of flexible mechanisms is accomplished by adding redundant actuators for the first time. The mathematical model of flexible linkages with redundant actuators is derived firstly. The principle of the active balancing method through adding redundant actuators is then presented. The effectiveness and advantages of redundant actuators on the dynamic balancing of flexible mechanisms are demonstrated sufficiently through various kinds of optimization for an example of 4R-four-bar linkage.