Optimum Balancing of Shaking Force and Shaking Moment for Spatial RSSR Mechanism Using Genetic Algorithm

Abstract

In this paper, we propose a new method, the comprehensive mass distribution method, for an optimum balancing of the shaking force and shaking moment of spatial RSSR mechanism (a spatial four-bar mechanism with two Revolute and two Spherical joints). The method consists of two parts:(1) optimizing the mass distribution of the link itself, and (2) adding weights to the end of the link. A genetic algorithm as an optimization technique is used in this study. Some examples are given, and the results show that the balancing effectiveness of the new method is better than that achieved by the conventional method and the weight of the mechanism is decreased. The shapes of optimized links are obtained using the small element superposing method.