Kineto-elastodynamic balancing of 4R-four-bar mechanisms by internal mass redistribution

In the case of mechanism with elastic links, the links vibrate about some mean position under the forces acting on the mechanism. The acceleration field resulting from the vibration of the links develops additional inertia forces which may be termed kineto-elastodynamic (KED) inertia forces. The present paper takes into account the contribution of the KED inertia forces toward the shaking force and shaking moment along with the contribution of the rigid-body inertia forces while balancing a mechanism by internal mass redistribution. The effect of the inclusion of KED inertia forces has been demonstrated by taking an example problem in which the maximum shaking force produced during the complete cycle of motion of mechanism has been minimized using nonlinear programming technique.