• Vigen ArakelianEmail author
  • Sébastien Briot
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 27)


It is known that fast-moving machinery with rotating and reciprocating masses is a significant source of vibration excitation. The high-speed linkages can generate significant fluctuating forces with even small amounts of unbalance. In general, two types of forces must be considered: the externally applied forces and the inertial forces. Inertial forces arise when links of a mechanism are subjected to large accelerations. The inertial force system acting on a given link can be represented as an inertia force acting on a line through the center of mass and an inertia torque about the center of mass. The determination of the inertial forces and torques is well known and it has been disclosed in various hand books. With regard to the external forces, which are associated with the useful function that the mechanism is to perform, these are often smaller than inertia forces with a much lower variation. On the other hand, when formulating balancing conditions of a mechanism, it is necessary to recognize that, in many cases, external active forces applied to mechanism links constitute internal forces with respect to the mechanism as a whole. Thus, if all external active forces applied to the links of a mechanism are internal forces for the mechanism as whole, then the balance of the mechanism will be ensured under the fulfillment of inertia forces and inertia torque cancellation. Therefore, the balancing of shaking force and shaking moment due to the inertial forces of links acquires a specific importance. The quality of balancing of the moving masses has the influence not only on the level of vibrations but also on the resource, reliability and accuracy of mechanisms. Besides the mentioned negative effects, vibrations bring to the environments pollution and the loss of energy, and can also provoke various health issues. Consequently, the quality improvement of the mass balancing has not only technical, technological and economical aspects but also social.


Inertial Force Balance Method Robot Manipulator Spatial Linkage Vibration Excitation 
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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  1. 1.Institut National des Sciences Appliquées (INSA), Rennes, France, and Institut de Recherche en Communications et Cybernétique de Nantes (IRCCyN), Nantes, FranceRennesFrance
  2. 2.Institut de Recherche en Com. et Cybernétique de NantesCNRSNantesFrance

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