ME 3507: Theory of Machines
Balancing
Dr. Faraz Junejo
Objectives
Balance simple rotating objects and
pin jointed fourbar linkages
Introduction
Shaking forces and shaking torques (Chapter 11) will
lead to vibrations
Shaking forces and shaking torques are produced by
unbalanced rotating members
Unbalanced rotating mass used in machinery where
vibration is required, ex: vibration function in cell
phone
For common machinery, vibration is not a desired
feature (leads to noise, faster wear and tear) and can
be removed through balancing
PlayStation 2 Dual Shock controller
Purposes of Balancing
Making machine element’s center of mass
coincide with their rotating centers
The center of mass of some machine may not
coincide with their rotating centers, the reasons
are:
The asymmetry of the structure
Uneven distribution of materials
Errors in machining , casting and forging
Improper boring
By keys
By assembly
Unbalance
A rotor is unbalanced if its centre of gravity (S) or
principal axis of inertia does not coincide with the
axis of rotation.
During rotation the centre of gravity then moves on a
circular path and the rotor exerts centrifugal forces
and moments on its frame.
As system is rotating at some
constant angular velocity ω. The
accelerations of the masses will then
be strictly centripetal (toward the
center) , and the inertia forces will be
centrifugal (away from the center).
Unbalance (contd.)
In addition to mass, the factors governing the
centrifugal force of a body are the radius of the
circular path and the angular velocity/speed.
F = m r ω2
As the centrifugal force increases with the square
of the speed, good balancing is extremely
important, particularly for high-speed machines.
Principle of d’Alembert
Method of converting a dynamics problem
into a ‘statics’ problem
Replace a with a force equal to ‘ma’ acting in
the opposite direction of ‘a’
Static Balancing
Applies to things in motion even though the word
‘static’ is used
Also known as single-plane balancing
Applied to rotating masses that are in, or nearly in
the same plane (2D problem)
Ex: Bicycle wheel, gear, grinding wheels, fan
propeller
Common feature: All objects are short in the axial
direction compared to the radial direction. The axial
dimension B is smaller compared to the diameter D ( usually
B/D≤0.2 )
Masses almost lie on a single plane
Requirement for static balance: Sum of all forces on
system must be zero, ΣF = 0
Figure shows a link in the shape of a vee which is
part of a linkage. We want to statically balance it.
We can model this link dynamically as two point
masses m1 and m2 concentrated at the local CGs of
each "leg" of the link as shown in Figure b.
These point masses each have a Dynamic model
mass equal to that of the "leg"
they replace; and
are supported on massless rods
at the position (R1 or R2) of that
leg's CG.
We can solve for the required
amount and location of a third
"balance mass" mb to be added
to the system at some location
Rb in order to satisfy equation F
– ma = 0.
Assume that the system is rotating at some constant angular velocity ω. The
accelerations of the masses will then be strictly centripetal (toward the center) ,
and the inertia forces will be centrifugal (away from the center) as shown in
Figure.
We will set up a coordinate system with its origin at the center of
rotation and resolve the inertial forces into components in that
system. Writing vector equation (F – ma = 0) for this system we get:
Note that the only forces acting on this system are the
inertia forces.
For balancing, it does not matter what external forces
may be acting on the system.
External forces cannot be balanced by making any
changes to the system's internal geometry.
Note that the ω2 terms is cancelled, as for balancing, it
also does not matter how fast the system is rotating, only
that it is rotating (ω will determine the magnitudes of
these forces, but we will make their sum to be zero
anyway for balancing).
Static Balancing (contd.)
Static Balancing (contd.)
Once a combination of mb and Rb is
chosen, it remains to design the
physical counterweight.
The chosen radius Rb is the
distance from the pivot to the CG of
whatever shape we create for the
counterweight mass.
Our simple dynamic model, used to
calculate the mR product, assumed
a point mass and a massless rod.
These ideal devices do not exist.
A possible shape for this
counterweight is shown in Figure
12-1c. Its mass must be mb,
distributed so as to place its CG at
radius Rb at angle θb.
Example: 1
Given : The system shown in the
right figure has the following data:
m1=1.2kg R1=1.135m @∠113.4°
m2=1.8kg R2=0.822m @∠48.8°
ω=40rad/sec
Find: The mass-radius product and
its angular location needed to
statically balance the system. Please
note desired value for Rb=0.806m
Example: 1 (contd.)
(1) Resolve the position vectors into x, y components:
R1=1.135m@∠113.4, R1x=-0.451m, R1y=1.042m
R2=0.822m@∠48.8, R2x=+0.541m, R2y= 0.618m
(2) So the mass-radius product of the counterweight is:
mbRbx = -(m1R1x+m2R2x) = -[(1.2)(-0.451)-(1.8)(0.541)]
= -0.433kg.m
mbRby = -(m1R1y+ m2R2y)= -[(1.2)(1.042)-(1.8)(0.618)]
= -2.363kg.m
2 . 363
b arctan 259 . 6
0 . 433
m b Rb ( 0 . 433 ) 2 ( 2 . 363 ) 2 2 . 402 kg m
Example: 1 (contd.)
(3) If a value for Rb=0.806m is desired, the
mass required for this counterweight m1
design is: m2
mb=(2.402kg-m)/(0.806m) =2.980kg r1
ω r2
at a chosen CG radius of:
Rb=0.806m
rb
mb
Static Balance/Single Plane Balance
Usually the counterweight mb are placed at as large a
rotating radius as is practicable to minimize the amount
of the added mass.
An alternative approach could be by removing mass in
the direction of imbalance (e.g. drilling a hole as the
open circle mb’), rather than by adding counterweights
to it.
Any number of masses in a disk-like rotor can be
balanced by adding a single mass or removing a mass at
an appropriate position.
This is also called single-plane balance.
Dynamic Balancing
Also known as two-plane balancing
Applied to rotating objects that are relatively
longer in the axial direction compared to the
radial direction
Ex: Car tire, squirrel cage fan, turbine rotor
Consider the assembly in Figure. Two equal masses
are at identical radii, 1800 apart rotationally, but
separated along the shaft length.
A summation of inertial forces due to their rotation
will be always zero (i.e. statically balanced). However,
in the side view, their inertia forces form a couple
which rotates with the masses about the shaft.
The couple will act on the frame and tend to produce
rotation vibration of the frame.
The criterion for the balancing in such cases is:
Both the vector sum of all inertia forces and the
vector sum of all moments of inertia forces about
any point must be zero, i.e.
∑Fi=0 and ∑Mi=0
Dynamic Balancing (contd.)
Requirements for dynamic balancing:
– Sum of all forces must be zero, ΣF = 0
– Sum of all moments must be zero, ΣM= 0
Requires addition of balancing weights in two
correction planes separated by some distance
along the shaft to provide a counter couple to
cancel the unbalanced moment
Example: Dynamic balancing
When an automobile tire and wheel is dynamically
balanced, the two correction planes are the inner and
outer edges of the wheel rim.
Correction weights are added at the proper locations
in each of these correction planes based on a
measurement of the dynamic forces generated by the
unbalanced, spinning wheel.
Dynamic balancing: Summary
Dynamic balancing: Summary (contd.)
Consider the system of three masses arranged around and
along the shaft in Figure 12-3.
We then create two correction planes labeled A and B. In this
design example, the unbalanced masses m1, m2, m3 and their
radii R1, R2, R3 are known along with their angular locations θ1,
θ2, and θ3.
A 3D coordinate system is applied with the axis of
rotation in the Z direction.
Note that the system has again been stopped in an
arbitrary freeze-frame position. Angular acceleration is
assumed to be zero. The summation of forces is:
Taking moment about pt. O on correction plane A yields:
12.4d
12.4e
12.4f
Equation 12.4 c becomes
Dynamic Balancing (contd.)
Example 2: Determine the mass radius products and their
angular locations required to dynamically balance the system
using the correction planes A and B
Example: 2 (Summary)
Balancing Linkages
Balancing forces the CM
of the object to coincide
with the center of
rotation
CM of object becomes
stationary as a result of
this
Static balancing is in
effect making the CM of
the object stationary
Balancing Linkages (contd.)
Balancing forces the CM
of the object to coincide
with the center of
rotation
CM of object becomes
stationary as a result of
this
Static balancing is in
effect making the CM of
the object stationary
Balancing Linkages (contd.)
We will employ static balancing on a linkage, because mass
of fourbar linkage is distributed in a single plane
CM of entire linkage will move as linkage moves
Linkage Balancing Strategy
Force CM of entire linkage, CMt to be stationary
Do this by adding 2 balancing weights, mA and mB, to
links 2 and 4 (because they are in pure rotation)
Linkage Balancing Strategy (contd.)
Force CM of entire linkage to be stationary
Derive equation describing location of CM of
entire linkage
Eliminate all variables from equation to
ensure location of CM is constant (stationary)
Global CM of Linkage
Vectors Representing Link Lengths
Vectors for Local CM of Links
Vectors for Local CM of Weights
Expression for R2
Expression for RA
Expression for R3
Expression for R4
Expression for RB
Expansion of Linkage CM equation
Vector Loop Equation
Location and mass of balancing weights
α and β gives orientation of RA and RB relative L2 and L4
respectively
Any combination of mA and RA are acceptable so long as their
product is equal to mARA(same with mBRB)
Exercise: 1
Figure shows an unbalanced fourbar linkage.
Balance this linkage using two balancing weights of
mA = mB = 100gm. Please note, all dimensions are in
mm, unless stated otherwise.
The distance and angular orientation of the second
balancing weight mB, relative to link 4 has been
determined for you. There values are shown in
figure.
Determine the distance RA and angular orientation
of the first balancing weight mA, relative to link 2 .
Exercise: 1
Exercise: 1 (contd.)
Hint: Need to use following equations for
fourbar pin joint mechanisms
Answers are as follows:
• RA= 14.2mm
• = 180 + θ = 193.4o
