Optimum balancing of shaking force and shaking moment for spatial RSSR mechanism using genetic algorithm

In this paper, we propose a new method, the comprehensive mass distribution method, for an optimum balancing of the shaking force and shaking moment o f spatial RSSR mechanism (a spatial four-bar mechanism with two Revolute an d two Spherical joints). The method consists of two parts: (1) optimizing t he mass distribution of the link itself, and (2) adding weights to the end of the link. A genetic algorithm as an optimization technique is used in th is study. Some examples are given, and the results show that the balancing effectiveness of the new method is better than that achieved by the convent ional method and the weight of the mechanism is decreased. The shapes of op timized links are obtained using the small element superposing method.