Harmonic Synthesis Design Methodology for Dynamic Spring Balancing

[+] Author and Article Information
Eungsoo Shin

Department of Mechanical & Precision Engineering, Cheongju, Chungbuk, Korea

D. A. Streit

Department of Mechanical Engineering, The Pennsylvania State University, University Park, PA 16802

J. Dyn. Sys., Meas., Control 118(4), 733-740 (Dec 01, 1996) (8 pages) doi:10.1115/1.2802350 History: Received October 12, 1993; Online December 03, 2007


A new spring balancing technique, called a two-phase optimization method, is presented. Phase 1 uses harmonic synthesis to provide a system configuration which achieves an approximation to a desired dynamic system response. Phase 2 uses results of harmonic synthesis as initial conditions for dynamic system optimization. Optimization techniques compensate for nonlinearities in machine dynamics. Example applications to robot manipulators and to walking machine legs are presented and discussed.

Copyright © 1996 by The American Society of Mechanical Engineers
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