基于冗余伺服电机的平面四连杆机构震动平衡

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In order to solve the shaking balancing of planar linkages well, a new approach of balancing called redundant servo motor is studied. The principle of the new approach of balancing the planar linkages is introduced in detail and examples are given to illustrate the procedure of the new approach and demonstrate the feasibility of this approach to balancing the shaking moment and driving torque.为了更好地解决平面连杆机构震动平衡问题，提出一种新的平衡概念――冗余伺服电机法．详细介绍了冗余伺服电机法的概念及其平衡平面连杆机构动力学参数的工作原理，并给出实例以介绍该方法的设计过程和验证其对平面连杆机构震动力矩和输入转矩平衡的有效性．