A 4R1P-active balancer was an independent device,consisting of a planar two-DOF 4R1P mechanism and a controllable motor.One input shaft of the 4R1P mechanism doubled as its output shaft,connected to the machine to be balanced.The another input was driven by a control motor.One or more dynamic effects of the mechanism can be minimized by selecting speed trajectories and structural parameters of the 4R1P mechanism properly.An optimization model was developed based on the input torque,

the shaking moment, the shaking force and the maximum power of the control motor.

And the design procedure was put forward.Taking a force-balanced crank-rocker mechanism as the reference mechanism, numerical examples were given to demonstrate the effectiveness of the proposed balancer. The results show that flexible dynamic balancing effect on the dynamic performance under different working conditions can be achieved by attaching the proposed balancer to both of the output shaft and the input shaft of the machine to be balanced. The deterioration of dynamic factors caused by alterative working conditions can be compensated effectively by redesigning the control parameters of the balancer.

4R1P型主动平衡器为独立式结构,由平面两自由度4R1P机构和控制电机组成,4R1P机构的一个输入轴兼作输出轴,与待平衡机构相连,另一个输入轴与控制电机相连,通过对4R1P机构结构参数和控制输入的恰当设计实现平衡作用。建立了基于输入扭矩、摆动力矩、摆动力和控制电机最大功率的优化设计模型,提出了相应的设计步骤,并给出了该型主动平衡器的设计算例,结果表明：在不同的平衡目标下,4R1P型主动平衡器的两种安装方案对机构各项动力指标都具有较好的平衡作用,通过调整其控制输入运动规律,可以有效地补偿因工况改变而造成的机构动力性能的变化。

主动平衡, 摆动力矩, 输入扭矩, 摆动力, 平面4R1P机构