【摘要】 用冗余驱动的新方法解决了连杆机构弹性动力（ＫＥＤ）平衡的问题．推导出具有冗余驱动的弹性机构动力学方程；网述了冗余驱动主动平衡的原理和方法．并通过一平面４Ｒ机构例子充分说明了这种新方法对弹性机构动力平衡的良好效果和优越性．更多还原

【Abstract】 The kineto-elastodynamic(KED) balancing of mechanical linkage is accomplished by adding redundant actuators for the first time. The mathematical model of flexible mechanisms with redundant actuators is developed. The principle of active balancing through redundant actuators is presented. The effectiveness and advantage of the new method for the dynamic balancing of flexible mechanisms are illustrated through an example of 4R-four-bar linkage.更多还原