The dynamic balancing is an important issue in mechanism design. For the existing balancing methods, both passive and active ones, there is still room for improvement in adaplability and independency. In view of this, a concept of active balancer is developed as a new solution for the dynamic balancing with more flexibility. The proposed balancer is an independent additional device with a control system inside, which consists of a two-degree-of-freedom （DOF） linkage and a controllable motor, and can be attached to a machine expediently with little change to its original structure and motion. One of the two inputs of the two-DOF linkage shares the same shaft with its output, which is connected to the input shaft of a machine to be balanced and driven by the original actuator. The other input is driven by the control motor. By properly selecting the speed trajectories of the control motor and link parameters of the two-DOF linkage, one or more dynamic effects of the mechanisms can be minimized or eliminated adaptively. The design procedure of the active balancer is put forward and a two-step optimization is developed to find out optimal design parameters of the balancer for various design requirements and constraints. Taking a force-balanced crank-rocker mechanism as the reference mechanism, numerical examples are given to illustrate the design procedure. The balancing effects of the proposed balancer are compared with those of the existing adding dyads （DYAD） method. The results show that the introduction of the control system provides the active balancer with better balancing effect and more flexibility than the DYAD method. A considerable reduction in the dynamic effects （input torque, shaking moment and shaking force） can be achieved for different balancing object by designing the structural and control parameters of the balancer, and the deterioration of dynamic performance caused by alterative working conditions can be compensated effectively by redesigning the control parameters.
A new biped robot with a triangle configuration is presented and it is a planar closed chain mechanism. The scalability of three sides of the triangle is realized by three actuated prismatic joints. The three vertexes of the triangle are centers of three passive revolute joints coincidently. The biped mechanism for straight walking is proposed and its walking principle and mobility are explained. The static stability and the height and span of one step are analyzed. Kinematic analysis is performed to plan the gaits of walking on an even floor and going upstairs. A prototype is developed and experiments are carried out to validate the straight walking gait. Two additional revolute joints are added to form a modified biped robot which can follow the instruction of turning around. The turning ability is verified by experiments. As a new member of biped robots, its triangle configuration is used to impart geometry knowledge. Because of its high stiffness, some potential applications are on the way.
