Closed-chain principal vector linkages

For high-speed robotics dynamic balance is an important property for low base vibrations and short cycle times. To consider dynamic balance in the beginning of the design process of a manipulator, mechanism solutions can be synthesized from principal vector linkages, which are fundamental kinematic architectures with inherent force balance. In this paper it is shown how a closed-chain principal vector linkage can be analyzed as an open-chain principal vector linkage by modeling one element in a closed chain with two real and two virtual equivalent masses. The results are validated with a dynamic simulatio