Dynamic analysis of a load transfer mechanism

In mechanical systems, dynamic forces arise as mechanisms undergo motion, resulting in forces at joints between the mechanism and its base. The cumulative force transmitted to the ground can result in adverse consequences and is termed as the shaking force. Balancing these forces is crucial to enhance mechanism longevity, reduce vibrations, mitigate wear due to vibration and improve ergonomic performance. Various methods exist to balance shaking forces, two of which are explored in this study within the context of a double pendulum mechanism: the counter mass method and the minimization of total center of weight method. Analyses were conducted using both MSC Adams simulation software and by solving the equations of motion derived from the Newton-Euler method. The counter mass method aims to maintain the acceleration of the center of mass at a constant level. Analysis indicates that employing counter masses to balance shaking forces resulted in a reduction of approximately 21.5% in the acceleration of the center of mass. However, this approach significantly increases the total mass of the mechanism due to the inclusion of counter masses. Conversely, the second method focuses on reducing shaking forces through the implementation of a Bang-Bang motion law. Application of this method led to a decrease in shaking force by approximately 36%. Importantly, this method achieves shaking force balance without the need for additional counter masses. These findings underscore the effectiveness of both methods in managing shaking forces in mechanical systems, offering insights into their respective impacts on system dynamics and design considerations.