Dynamic balancing of spatial mechanisms

This paper deals with a new solution suggested for dynamic balancing (shaki ng force and shaking moment balancing) of spatial mechanisms. The condition s for balancing are formulated by the minimization of the root-mean-square value of the shaking moment. There are considered two cases: mechanism with the input link by constant angular velocity and mechanism sith the input l ink up variable angular velocity by constant angular velocity and displacem ent of the axis of rotation of the input link connected with the counterwei ght. The efficiency of the suggested method is illustrated by numerical exa mple. (C) 2000 Academie des sciences/Editions scientifiques et medicales El sevier SAS.