RESEARCH PAPERS: Other Technical Papers

Complete Force Balancing of Spatial Linkages

[+] Author and Article Information
Roger E. Kaufman

Massachusetts Institute of Technology, Cambridge, Mass.

George N. Sandor

Division of Machines and Structures, Rensselaer Polytechnic Institute, Troy, N. Y.

J. Eng. Ind 93(2), 620-626 (May 01, 1971) (7 pages) doi:10.1115/1.3427972 History: Received June 23, 1970; Online July 15, 2010


A new method permits the complete force balancing of spatial linkages such as the RSSR and RSSP mechanisms. Operator equations are written describing the location of the center of mass for the given mechanism. The coefficients of the time-dependent terms are set to zero by properly locating the mass centers of selected links. As a result, the location of the total center of mass is invariant and there is no resultant shaking force.

Copyright © 1971 by ASME
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