TAILIEUCHUNG - Complete shaking force and shaking moment balancing of spatial multibody systems with open kinematic chains

This paper deals with a solution for the problem of full shaking force and shaking moment balancing of spatial multi body systems with open kinematic chains. Firstly, the general conditions for complete dynamic balancing of spatial multibody systems are formulated. | Vietnam Journal of Mechanics, VAST, Vol. 27, No. 3 (2005), pp. 171 - 178 COMPLETE SHAKING FORCE AND SHAKING MOMENT BALANCING OF SPATIAL MULTIBODY SYSTEMS WITH OPEN KINEMATIC CHAINS NGUYEN VAN KHANG, NGUYEN PHONG DIEN , PHAM VAN SON Hanoi University of Technology Abstract . This paper deals with a solution for the problem of full shaking force and shaking moment balancing of spatial multi body systems with open kinematic chains. Firstly, the general conditions for complete dynamic balancing of spatial multibody systems are formulated. These include formulae for complete elimination of the resultant inertia force and inertia couple caused by all moving bodies. In the following example, the equations of complete shaking force and shak:ng moment balancing of a nine-bar direct drive manipulator are given. 1. IN T RODUCT ION The balancing of machinery has became an important research topic because a balanced machine leads to better dynamic characteristics and less vibrations. A considerable amount of research on the dynamic balancing of planar mechanisms has been carried out for several decades. It is well known that the resultant inertia force (called as shaking force) and the resultant inertia couple (or shaking moment) caused by all moving links can be reduced by either internal mass redistribution, or using counterweights [5, 7] or adding supplementary links such as cams , dyads to the initial mechanism [6] . In contrast to the rapid progress in balancing theory of planar mechanisms , the development on the balancing theory of spatial multibody systems is still limited. Balancing methods of planar mechanisms can not be directly applicable to spatial multibody systems since kinematic and dynamic properties of spatial multi body systems are much more complicated. T he literature on this respect therefore is very little (see [1]-[4]) . Based on theory of multibody dynamics, the general conditions for complete shaking force and shaking moment balancing of spatial .

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