Équilibrage dynamique des mécanismes spatiaux

This paper deals with a new solution suggested for dynamic balancing (shaking force and shaking moment balancing) of spatial mechanisms. The conditions for balancing are formulated by the minimization of the root-mean-square value of the shaking moment. There are considered two cases: mechanism with the input link by constant angular velocity and mechanism with the input link by variable angular velocity. The method is realized by displacement of the axis of rotation of the input link connected with the counterweight. The efficiency of the suggested method is illustrated by numerical example.