The sensitivity formulae of the shaking force and shaking moment of general planar articulating mechanisms are derived. A planar four-bar mechanism is taken as a numerical example. The sensitivity and robustness of the complete force balancing result and the optimum force and moment balancing result to the link mass parameters are analyzed separately. A new robust balancing method that is insensitive to the processing errors is presented.
Volume Subject Area:23rd Design Automation Conference
Topics:Design, Errors, Robustness
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