Force balancing techniques for complex cyclically moving planar linkages

摘要

This invention provides a technique for reducing shaking forces in n-bar type planar linkages. Thus a linkage is reciprocated and the shaking forces determined in two different coordinates of the plane of operation. With information on crank arms, operating position and velocity of the reciprocating linkage, the relationship Fs=Ma furnishes balancing equations which may be solved by calculation using detected readings at a plurality of linkage positions to give the masses and positions of corrective balancing members for reducing the shaking forces. Instrumentation primarily comprises a force platform such as a piezoelectric device upon which the linkage is mounted for cyclic reciprocation to produce dynamic force signals along a set of two coordinates in the plane of operation at various linkage positions. Appropriate data processing equipment then calculates from the balancing equations the corrective masses and their positions for reducing the shaking forces. The calculation can be automatically done in computing equipment, and the shaking forces along the coordinates can be displayed on an oscilloscope for analysis and indication of the balance.