Elastodynamic behavior of balanced closed-loop mechanisms: numerical analysis of a four-bar linkage (Q2510261)

The authors discuss dynamic balancing of a four-bar linkage by including the effects of link elasticity and gravity. They develop a method via modal analysis for incorporating balancing weights and springs. The long-term goal is to balance parallel spatial robotic arms. Examples of numerical analysis are included. The paper is likely to be of interest and use for engineers and designers working with high-speed planar mechanisms where precision in the movement is required.