Theoretical And Experimental Study On The Dynamic Balancing Of Elastic Mechanisms By Redundant Drives

The dynamic balancing of elastic mechanisms is an advanced topic in the study of mechanisms. In this area, most of works are limited in theoretical research and numerical simulation. However, the experimental study has been paid less attention. The dynamic balancing of elastic mechanisms is investigated by redundant drives through experiment for the first time in present study. Some achievement has been made in the dissertation.In the first part, the dynamic equation of elastic linkages with redundant drives had been derived. The principle of the dynamic balancing method on elastic linkages by redundant drives was then presented. The optimum balancing of a four bar linkage with elastic links is studied, in which the control torque of redundant drives is taken as the design variable, and the shaking force and shaking moment of the mechanism are taken as the objective. The numerical simulation shows validity of the method.In the second part, in order to farther study the dynamic balancing of elastic mechanisms by redundant drive, an experiment is presented. Firstly, the scheme of experiment has been designed, the mechanical equipments and control instruments of redundant drives have been set up too. Two experiments on the dynamic balancing of elastic mechanisms have been done, in which the 34HS300D and 34HS300C stepping motors are taken as redundant drives, respectively. The experimental results consist with the relevant numerical simulation. Then, from the experimental results, the way of the balancing method has been illustrated.The theoretical and experimental study shows that the dynamic balancing of elastic mechanisms can be well obtained by redundant drives.