Abstract

This paper aims at simplifying the derivation of conditions for complete shaking force balancing (CSFB) of spatial linkages. The formulation of conditions for CSFB of a spatial linkage is reduced to the mass moment substitution of binary links, ternary links, quaternary links, dyads and spatial serial open chains. The conditions and formulae for mass moment substitution of different types of ternary links and quaternary links are derived. From these conditions and formulae together with the conditions and formulae for mass moment substitution of binary links, dyads and spatial serial open chains presented in previous works, the conditions for CSFB of a spatial linkage can be written down directly instead of extracting them from the kinematic equations of the linkage. A general procedure to formulate the condition for CSFB is then proposed and an example is given to illustrate the application of the proposed approach.

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