Simultaneous minimization of shaking moment, driving torque, and bearing reactions of complete force balanced linkages

The present paper deals with an integrated design approach for complete force balanced planar linkages. It combines kinematic synthesis, dynamic balancing design, and the design of speed trajectory of input link in the same design step, satisfies kinematic design requirements, and reaches the trade-off of dynamic balancing with complete force balancing. By properly designing the variable input speed trajectory, the balancing parameters of moving links and link dimensions of the given or desired mechanisms, the expected output motion characteristics, and dynamic balancing performance are obtained. The input motion characteristics are designed with Bezier curves. Optimization is applied to find optimal design parameters for meeting kinematic and dynamic design requirements and constraints. The examples are given to demonstrate the feasibility of the proposed method.