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Abstract: The dynamic balancing of flexible mechanisms is studied
using redundant drives. The dynamic equation of the flexible mechanisms
with redundant drives is developed at first. The optimum balancing of a
flexible linkage is then obtained via additional actuator. The
experimental study of a planar 4R linkage is presented finally. Both the
numerical simulation and experimental result illustrate the
effectiveness and advantages of the balancing method.
Key words: Redundant drive Flexible mechanisms Dynamic balancing
CLC No: TH122
国家自然科学基金资助项目(50375003).
Received 20041018, received in revised form 20050418
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