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Research Papers

Dynamic Optimization of Reactionless Four-Bar Linkages

[+] Author and Article Information
Qimi Jiang

Department of Mechanical Engineering, Laval University, Quebec, QC, G1V 0A6, Canadaqimi_j@yahoo.com

Clément M. Gosselin

Department of Mechanical Engineering, Laval University, Quebec, QC, G1V 0A6, Canadagosselin@gmc.ulaval.ca

J. Dyn. Sys., Meas., Control 132(4), 041006 (Jun 16, 2010) (11 pages) doi:10.1115/1.4001337 History: Received July 30, 2009; Revised February 01, 2010; Published June 16, 2010; Online June 16, 2010

Reactionless mechanisms have many important applications because of their zero reaction forces and moments at the base. However, in most cases, these mechanisms consume more energy than their unbalanced counterparts. This paper focuses on analyzing the relationship between the needed input torque and the dynamic parameters of reactionless four-bar linkages. The objective is to minimize the needed input torque by optimizing the relevant dynamic parameters. The dynamic analysis shows that the needed input torque mainly depends on the mass of the link, which needs to be balanced. The results obtained can be applied to the design optimization and dynamic control of the devices such as parallel manipulators composed of reactionless four-bar linkages.

Copyright © 2010 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

General four-bar linkage

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Figure 2

Reactionless four-bar linkage—Type I

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Figure 3

Comparison of needed input torques

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Figure 4

Reactionless four-bar linkage with m1=m3

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Figure 5

Counterweight with different shapes: (a) extended cylinder, (b) sphere, and (c) perpendicular cylinder

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Figure 6

m1 as a function of l1

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Figure 7

Effect of length l1(l3) with different frequencies ω

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Figure 8

Effect of length l1(l3) with different amplitudes θ3A: (a) θ3A=5 deg, (b) θ3A=15 deg, (c) θ3A=30 deg, (d) θ3A=45 deg, (e) θ3A=60 deg, and (f) θ3A=75 deg

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Figure 9

τ¯ as a function of m2

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Figure 10

Reactionless four-bar linkage—Type II

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Figure 11

Limit configurations

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Figure 12

τ as a function of t (Type II)

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Figure 13

τ as a function of t (unbalanced four-bar linkage)

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Figure 14

τ¯ as a function of m3

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Figure 15

Reactionless four-bar linkage—Type III

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Figure 16

τ as a function of t (Type III and its unbalanced counterpart)

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Figure 17

τ¯ as a function of m1

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