New Method for the Kineto-Elastodynamic Balancing of Mechanical Linkage

The kineto-elastodynamic(KED) balancing of mechanical linkage is accomplished by adding redundant actuators for the first time. The mathematical model of flexible mechanisms with redundant actuators is developed. The principle of active balancing through redundant actuators is presented. The effectiveness and advantage of the new method for the dynamic balancing of flexible mechanisms are illustrated through an example of 4R-four-bar linkage.