Minimization of Inertia-Induced Forces in Spherical Four-Bar Mechanisms. Part 1: The General Spherical Four-Bar Linkage

Abstract

Computer-aided design procedures have been developed for the optimum mass distribution of the links of high-speed spherical four-bar linkages. The analysis, which includes a quadratic-programming technique, allows an optimum trade-off between shaking forces, shaking moments, bearing reactions, and input-torque fluctuation. The results are illustrated in the case of a Hooke joint and a wobble-plate linkage.