A new concept for force balancing machines for planar linkages. Part 2: Application to four-bar linkage and experiment

This paper represents Part 2 of a two-part investigation on balancing devices for planar linkages. The theory shown in Part 1 is applied to the development of an experimental machine for theoretically fully force balanced four-bar linkages. To accomodate the inaccuracies in the various experimental quantities, it became necessary to obtain the correction masses from overdetermined sets of shaking force equations. Minimax and least squares approaches were formulated and adapted for solution by an existing augmented Lagrangian penalty function code. Both methods reduced the magnitudes of the actual shaking force components by more than fifty percent.