Analytical and experimental study on the dynamic balancing of flexible mechanisms

An analytical and experimental study on the dynamic balancing of flexible mechanisms is presented by the way of redundant drive in this study. The dynamic model of flexible mechanism with a redundant actuator is developed at first. The optimum shaking force and shaking moment balancing of a flexible four-bar linkage has then been obtained using an additional actuator. Finally, the experimental study on the dynamic balancing of the flexible mechanism is presented. Both the numerical simulation and experimental result demonstrate the advantage of redundant drives on the dynamic balancing of flexible mechanisms.