Complete dynamic balancing principles still cannot avoid a substantial increase of mass and inertia. In addition, the conditions for dynamic balance and the inertia equations can be complicated to derive. This article shows how a double pendulum can be fully dynamically balanced by using counter-rotary counter-masses (CRCMs) for reduced additional mass and inertia. New CRCM-configurations were derived that have a low inertia, a single CRCM or have all CRCMs near the base. This article also shows how a CRCM-balanced double pendulum can be used as building element in the synthesis of balanced mechanisms for which the balancing conditions and inertia equations can be written down quickly. For constrained mechanisms the procedure is to first write down the known balancing conditions and inertia equations for the balanced double pendula and subsequently substitute the kinematic relations.

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