On the development of low mass shaking force balanced manipulators

Whenever mechanisms have to run at high speeds, dynamic balancing (shaking force and shaking moment balancing) becomes an important issue to reduce machine vibrations. This article considers Fischer’s method of principal vectors for shaking force balancing with low mass addition. A method based on linear momentum equations and Equivalent Linear Momentum Systems is proposed to calculate the principal vectors for all mechanism elements having an arbitrary mass distribution. A planar serial chain of three bodies, and a planar serial chain of four bodies are studied. The theory is verified experimentally for a planar serial chain of five bodie