TY - JOUR AU - Khang, Nguyen Van AU - Dien, Nguyen Phong AU - Son, Pham Van PY - 2005/10/01 Y2 - 2024/03/28 TI - Complete shaking force and shaking moment balancing of spatial multibody systems with open kinematic chains JF - Vietnam Journal of Mechanics JA - Vietnam J. Mech. VL - 27 IS - 3 SE - Research Article DO - 10.15625/0866-7136/27/3/5726 UR - https://vjs.ac.vn/index.php/vjmech/article/view/5726 SP - 171 - 178 AB - <p>This paper deals with a solution for the problem of full shaking force and shaking moment balancing of spatial multi body systems with open kinematic chains. Firstly, the general conditions for complete dynamic balancing of spatial multibody systems are formulated. These include formulae for complete elimination of the resultant inertia force and inertia couple caused by all moving bodies. In the following example, the equations of complete shaking force and shaking moment balancing of a nine-bar direct drive manipulator are given.</p> ER -