Document Type


Date of Award

Spring 5-31-1996

Degree Name

Doctor of Philosophy in Mechanical Engineering - (Ph.D.)


Mechanical Engineering

First Advisor

Ian Sanford Fischer

Second Advisor

Rajesh N. Dave

Third Advisor

Zhiming Ji

Fourth Advisor

Avraham Harnoy

Fifth Advisor

Bruce G. Bukiet


A computer-aided design procedure has been developed for minimizing the adverse effects of the inertia-induced forces by optimum mass redistribution amongst the links of high speed general spatial linkages. The evaluation of an optimality criterion for the mass redistribution of the mechanism will be carried out with the aid of a quadratic programming technique. This has been found to be successful in minimizing inertia induced forces and torques. The validity of the optimization procedure will be demonstrated by application to one kind of spatial linkage.

No literature has been found on the balancing of a general spatial mechanism, since its kinematic equations are highly non-linear and therefore, are very difficult to solve. This is the first analysis of inertia-induced forces and torques in a general spatial mechanism. This method allows for the trade-offs necessary to achieve optimum dynamic response of the linkage in design stage. These tradeoffs involve a balance among the shaking force, shaking moment, bearing reactions, and input torque fluctuations by mass distribution of the moving links. The results will be reduced to design procedures and guidelines. These have been outlined in a step-by-step fashion suitable for the non-specialist.



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