Balancing Balancing is the process of eliminating or at least reducing the ground forces and/or moments.

It is achieved by changing the location of the mass centers of links. Balancing of rotating parts is a well known problem. A rotating body with fixed rotation axis can be fully balanced i.e. all the inertia forces and moments. For mechanism containing links rotating about axis which are not fixed, force balancing is possible, moment balancing by itself may be possible, but both not possible. We generally try to do force balancing. A fully force balance is possible, but any action in force balancing severe the moment balancing.

Rotating Mass Balance, Static and Dynamic Balance

A geometrically symmetrical body is expected to be balanced. Due to non-uniform distribution of material like air voids due to bad casting, mass center may not be coinciding with the fixed pivot. So, every rotating component must be checked for unbalance. Fixed axis rotation of a body mass center is not coinciding with rotation axis O, shown in figure. Centripedal force F is m 2 r .

m r O F r

F F

Fig. Fixed axis rotation of a body. Mass center is not coinciding with rotation axis O.

We want, m 2 r = 0 , possible cases;

m = 0 : mathematically correct but physically trival,

= 0 : mathematically correct but physically trival,

r = 0 : mathematically correct yet physically realisable by balancing.

How can we understand if a body has any unbalance?

A simple experiment may be conducted as; We place the rotating body on frictionles bearings or kinife edge bars as depicted in figure 2, and by turning it a bit and than waiting until it comes to rest. So, bottommost point is marked. That mark represents the heavier side of the body. We disturb the body from its rest position by turning it again a bit and letting it comes to rest. If the mark is still at the bottommost position, then this side surely heavier than the opposing side. We either remove material from the hevier side or add material to the lighter side for correction. Then, repeat the procedure until no part of the body comes insistively to the bottommost position.

Plump line

Knife edge

Axial dimension smaller than radial dimension

Figure 2, Simple experiment

In this porcess we make use of the gravity force only which is mg . Both m and g are constant so, the force which we make use of in balancing is a static force. And the method is called static balancing. In such balancing, we can not decide or see inspect the amount of unbalance and orientation. Unbalance is found and its correction is done by an experimental approach using a balancing machine.

Static balancing is suitable for rotating objects with negligible axial dimensions like fans, thin flyweels ect. Static balancing of these components provide both force and moment balance. If axial dimensions are not negligible a simple static balance will not ensure moment balance though it ensures force balance. To display the moment unbalance, body must be turning and noncollinear centrepedal forces must be generated, so forces we make use of are m 2 r . Body is no longer static hence balancing done in this format called the dynamic balancing.

Dynamic balancing is done by adding or removing mass at two places known as the correction planes. Distance between the correction planes must be as much as possible and

the designer must facilitita large and heavy portions at each end of a shaft where removing some material by drilling does not reduces the strenght of the shaft.

Analysis of Unbalance In this section we will learn how to analyze any unbalanced rotating body and determine the proper correction. Firstly, we will discuss the graphical method, secondly, vector methods.

Graphical Method When the rotating masses are in different planes as shown in figure, following two equations should be satisfied; * * F = 0 and M = 0

Consider the shaft depicted in figure is to be balanced. We need to determine the location and amount of correction masses. We begin by moment balancing. Summation of the centripedal forces, including the corrections about some point. We choose LCP point. Thus applying the * M = 0 gives * * * * M LCP = 0; M1 + M 2 + M RCP = 0

m1 l1

m1

r1

l2 l LCP Left Correction Plane m2 RCP Right Correction Planes r2 m2

Moment generated by the first unbalance M 1 is l1 m1 r1 2 with respect to LCP. Moment generated by the second unbalance M 2 is l 2 m2 r2 2 with respect to LCP.

As 2 is common in all vector for simplicity we can drop it. Taking the directions of the moments as if forces directions. A moment polygon, depicted in figure, can be constructed. Note that a true moment directions would be obtained by rotating the polygon 90 degree CW.

M2 MRCP

M1 Om F2

Magnitude and direction of the correction

F1 Of FLCP FRCP

factor is determined from the moment polygon. Its magnitude is mrcp rrcp l . We know l by design. By dividing l, we get
mrcp rrcp . Any combination of mrcp and

rrcp providing arithmetical comforming will

do. You can put a small mass at a long rrcp or large mass at a small rrcp . With the addition of * mrcp , moment balance is done. But, F = 0 equation is not satisfied yet. For force balance, we do not need to rotate the shaft, we can make use of gravity forces only. Similiarly, magnitude and direction of the correction mass to be placed LCP can be found from force polygon.

Example 1 a) In the figure an unbalanced shaft with non-negligible axial dimensions is shown. It is to be balanced by putting balance masses at the correction planes. Calculate the amount of masses to be used at a radial distance of 0.3 m on the correction planes.

m1 0.25 m 0.25 m 0.25 m

m2 m1 r2 r1 RCP

LCP

m1=4 kg m2=2 kg r1 =0.1 m r2=0.2 m

F = 0;
where

* * * * FLCP + FRCP + F1 + F2 = 0

LCP

* * * = 0; M RCP + M 1 + M 2 = 0

where M 1 = l1 F1 = 0.25 * 0.4 = 0.1kgm 2 M 2 = l 2 F2 = 0.5 * 0.4 = 0.2kgm 2 M RCP = l RCP FRCP = ?
M RCP = 0.3kgm 2 = l RCP FRCP = 0.75 * FRCP

F1 = m1 r1 = 4 * 0.1 = 0.4kgm F2 = m2 r2 = 2 * 0.2 = 0.4kgm FLCP = m LCP rLCP = ? FRCP = m RCP rRCP = ?

FRCP =

0 .3 = 0.4kgm 0.75

m LCP =

FLCP 0.4 = = 1.333kg ANS rLCP 0.3

m RCP =

Fc 0.4 = = 1.333kg ANS rRCP 0.3

F RCP=0.4 kgm F LCP=0.4 kgm

F2=0.4 kgm

MRCP =0.3 kgm M2=0.2 kgm2

F1=0.4 kgm

M1=0.1 kgm

b) Can this shaft be dynamically balanced by putting a single mass? If so, where must be the correction plane with radial distances 0.3 m.

YES. Because all masses (including correction masses) are on the single plane.

F = 0; F
M
LCP

= FRCP + FLCP = 0.8kgm = mc rc mc =

0 .8 = 2.66kg ANS 0 .3

= 0; M c = x * Fc 0.3 = x * 0.8 x =

0.3 = 0.375m From LCP 0. 8

ANS

Example In the figure a rotating

shaft is shown. The shaft rotates at 750 rpm. It is supported in bearings at A and B. m1= 2 kg, m2= 2 kg, r1=0.4m, r2=0.2m

y A FA 0.3 m

m1 0.3 m FB B z

F1 y r1 r2 m2 F2 x

a) What are the bearing reactions for the systems?

rev 1 min 2 = 78.54rad . min 60 sec 1rev

= 750

F1 = m1 r1 2 = 2 * 0.4 * 78.54 2 = 4934.83N F2 = m2 r2 2 = 2 * 0.2 * 78.54 2 = 2467.41N FA = ? & FB = ? Taking moment about A,
0.3 * 4934.83 0.3 * 2467.41 = 1233.71N 0 .6

= 0; 0.3 * F1 0.3 * F2 0.6 * FB = 0 FB =

= 0; FA FB F2 + F1 = 0 FA = 4934.83 2467.41 1233.71 = 1233.71N ANS

b) Determine the location and magnitude of a balancing mass if it is to be placed at a radius of 0.3 m.

F = 0;
where

* * * Fc + F1 + F2 = 0

F1 = m1 r1 2 = 2 * 0.4 * 78.54 2 = 4934.83 N F2 = m2 r2 2 = 2 * 0.2 * 78.54 2 = 2467.41N Fc = mc rc 2 = 4934.83 2467.41 = 2467.41N

mc =

Fc 2467.41 = = 1.333kg ANS 2 rc 0.3 * 78.54 2

c) Calculate the bearing reactions after adding the balancing mass. Compare and discuss your results before and after balancing.
F1 = m1 r1 2 = 2 * 0.4 * 78.54 2 = 4934.83 N F2 = m2 r2 2 = 2 * 0.2 * 78.54 2 = 2467.41N Fc = mc rc 2 = 4934.83 2467.41 = 2467.41N FA = ? & FB = ?

Taking moment about A,

= 0; 0.3 * F1 0.3 * F2 0.3 * Fc 0.6 FB = 0 FB = 0 then FA = 0 ANS.

Example The shaft shown in the figure is rotating with a speed of 10 rad/sec. Calculate the

amount and angular orientation of the balance masses to be placed at a radial distance of 0.2 m.

0.4m

m1 0.8m 1.0m

m2

m1 30
o

r1

r2

m2 30
o

r3 1.4 m m3 RCP Right Correction Planes m3

LCP Left Correction Plane

m1 = 2 kg , m2 = 2 .5 kg , m3 = 2 kg , r1 = 0 .5 m , r2 = 0 .2 m , r3 = 0 .2 m * * * * * * * * * * * M = 0 ; M 1 + M 2 + M 3 + M RCP = 0 F = 0 ; F1 + F2 + F3 + FRCP + FLCP = 0

F1 = m1 r1 2 = 2 * 0 .5 * 10 2 = 100 N 150  F2 = m2 r2 2 = 2 * 0 .2 * 10 2 = 50 N 30  F3 = m3 r3 2 = 2 * 0 .2 * 10 2 = 40 N 270  FLCP = ? FRCP = ?
M 1 = F1l1 = 100 * 0 .4 = 40 N 150  M 2 = F2 l 2 = 50 * 0 .8 = 40 N 30  M 3 = F3 l3 = 40 * 1 = 40 N 270  M RCP = ?

M RCP = 0

F2

F3 F1 F LCP =56N

M2 M3 M1

FLCP = 56 = m LCP * rLCP * 2 m LCP =

56 = 2 .8 kg321  100 * 0 .2

Example Figure represents a rotating system that has been idealised for illustrative purposes.
A weightless shaft is supported in bearings at A and B rotates at 955 rpm. m1 = m2 = 0 .5 kg , m3 = 1 kg , r1 = r2 = r3 = 0 .2 m

A 1.0m 1.4 m

m1

m2

m1 30
o

r1

r2

m2 30
o

r3 m3 B m3

a) What are the bearing reactions for the system?

955 rev 2 1 min = 100 rad / sec * =n= * rev 60 sec min

M = 0; M

* * * +M 2 + M 3 + M B = 0

M 1 = F1l1 = 1000 * 1 .4 = 1400 Nm 150  M 2 = F2 l 2 = 1000 * 1 .4 = 1400 Nm 30  M 3 = F3 l3 = 2000 * 1 .4 = 2800 Nm 270  M B = FB l = ?

* * * * * * F = 0 ; F1 + F2 + F3 + FA + FB = 0

F1 = m1 r1 2 = 0 .5 * 0 .2 * 100 2 = 1000 N 150  F2 = m2 r2 2 = 0 .5 * 0 .2 * 100 2 = 1000 N 30  F3 = m3 r3 2 = 1* 0 .2 * 100 2 = 2000 N 270  FA = ? FB = ?

M2 M3 M1

F2 F1

F3 FA=400N FB
FB =

MB=1400 Nm

M B 1400 = = 1400 N 90  1 l

FA = 400 N 270 

b) Determine the location and magnitude of a balancing mass if it is to be placed at a radius

of 0.2 m. From the moment polygon, moment created by correction mass which is to be placed at the correction plane is equal to 1400 N. Then,

M Corr = Fcorr * l = mcorr * rcorr * 2 * l mcorr =

1400 = 0 .5 kg 0 .2 * 100 2 * 1 .4

Example The shaft shown in the figure is rotating with a constant speed of 10 rad/sec.
Calculate the amount and angular orientation of the balance masses to be placed at a radial distance of 0.3m. m1 = 2 kg, m2=4 kg, m3=3 kg, r1 = r2= r3=0.2 m.

0.5 m

m1

m1 r1 45 RCP r2 m2 45 r3 m3

0.75 m 0.5 m 0.5 m m2 LCP

*

m3

LCP

* * * * = 0 ; M 1 +M 2 + M 3 + M RCP = 0

M 1 = F1l1 = 0 .5 * 40 = 20 Nm 90  M 2 = F2 l 2 = 80 * 0 .75 = 60 Nm 135  M 3 = F3 l 3 = 60 * 1 .25 = 75 Nm 315  M RCP = FRCP l = ?

M RCP = 76 Nm FRCP = M RCP 76 = = 43 .43 N98 o l 1 .75

M2

M1 OM

MRCP =76 Nm M13

m RCP =

FRCP 43 .43 = 2 = 1 .448 kg 98 o 2 r 10 0 .3

* * * * * = 0 ; F1 + F 2 + F 3 + F R + F B = 0

F1 = m1 r1 2 = 2 * 0 .2 * 10 2 = 40 N 90  F2 = m2 r2 2 = 4 * 0 .2 * 10 2 = 80 N 135  F3 = m3 r3 2 = 3 * 0 .2 * 10 2 = 60 N 315  FRCP = 43 .43 N 98 o FLCP = ?

F2

F1

OF
FLCP = 25 .8 N 38 .4 o

FLCP =25.8 N
m LCP = FLCP 25 .8 = 2 = 0 .86 kg 38 .4 o 2 r 10 0 .3

F3 FRCP

Example The shaft shown in the figure is rotating with a constant speed of 1 rad/sec.
Calculate the amount and angular orientation of the balance masses to be placed at a radial distance of 0.3 m. m1 = 2 kg, m2=4 kg, r1 = r2= 0.2 m.

0.5 m

m1

m1 r1 0.75 m m2 RCP 45 r2 m2

0.75 m

LCP

LCP

* * * = 0 ; M 1 +M 2 + M RCP = 0

M 1 = F1l1 = 0 .5 * 0 .4 = 0 .20 Nm 90  M 2 = F2 l 2 = 0 .8 * 0 .75 = 0 .60 Nm 135 

M1 M2 OM MRCP =0.48 Nm

M RCP = FRCP l = ?
M RCP = 0 .48 Nm FRCP = M RCP 0 .48 = = 0 .32 N27 .6 o 1 .5 l

m RCP =

FRCP 0 .32 = 2 = 1 .067 kg 27 .6 o 2 r 1 0 .3

F = 0;

* * * * F1 + F2 + FRCP + FLCP = 0

F1 = m1 r1 2 = 2 * 0 .2 * 12 = 0 .40 N 90  F2 = m2 r2 2 = 4 * 0 .2 * 12 = 0 .80 N 135  FRCP = 0 .32 N 27 .6 FLCP = ? FLCP = 0 .283 N 3 .4 o

o

F2

F1

FLCP =0.283 N FRCP

OF

m LCP =

FLCP 0 .283 = 2 = 0 .943 kg 3 .4 o 2 r 1 0 .3

Example The shaft shown in the

figure is rotating with a speed of 10 rad/sec. Calculate the amount and angular orientation of the balance masses to be placed at a radial distance of 0.2 m.

m2 r2 0.25 m 0.25 m m1 LCP m1=4 kg m2=2 kg r1 =0.1 m r2=0.2 m RCP 0.25 m m1 r1

M = 0;

* * * M 1 + M 2 + M RCP = 0

M 1 = F1l1 = 40 * 0 .25 = 10 Nm 270  M 2 = F2 l2 = 40 * 0 .5 = 20 Nm 90  M RCP = ?

M RCP = 22 .5 Nm 296 .5 

M2=20Nm

MRCP =20Nm

M1=10Nm
FRCP = 22 .5 = 30 N 296 .5  0 .75 30 = 1 .5 kg296 .5  100 * 0 .2

FRCP = m LCP * rLCP * 2 m LCP =

F = 0;

* * * * F1 + F2 + FRCP + FLCP = 0

F1 = m1r1 2 = 4 * 0 .1* 10 2 = 40 N 270  F2 = m2 r2 2 = 2 * 0 .2 * 10 2 = 40 N 90  FLCP = ?

FRCP =30N F2=40N FLCP =30N

FLCP = 30 N

33 
30 = 1 .5 kg334  100 * 0 .2

F1=40N

FLCP = 30 = m LCP * rLCP * 2 m LCP =

Example Balance the shaft shown in the figure dynamically by putting balance masses at a
radial distance of 0.1 m. m1 = 2 kg, m2=1 kg, r1 = 0.1 m, r2= 0.2 m.

0.5 m 1m LCP

m1

m1 r1 0.5 m m2 RCP r2 m2

LCP

* * * = 0; M RCP + M 1 + M 2 = 0

F = 0;
where

* * * * FLCP + FRCP + F1 + F2 = 0

where M 1 = l1 F1 = 0 .5 * 0 .2 = 0 .1kgm 2 M 2 = l 2 F2 = 1 .0 * 0 .2 = 0 .2 kgm 2 M RCP = l RCP FRCP = ?

F1 = m1 r1 = 2 * 0 .1 = 0 .2 kgm F2 = m2 r2 = 1* 0 .2 = 0 .2 kgm FRCP = 0 .0667 kgm FLCP = m LCP rLCP = ?

M1 MRCP=0.1kgm
2

M2

F2 F1 FRCP FLCP =0.0667kgm

M RCP = 0 .1kgm 2 = l RCP FRCP = 1 .5 * FRCP FRCP = 0 .1 = 0 .0667 kgm 1 .5

m LCP = ANS

FLCP 0 .0667 = = 0 .667 kg rLCP 0 .1

m RCP = ANS

FRCP 0 .0667 = = 0 .667 kg rRCP 0 .1

4- The shaft shown in the figure is rotating with a speed of 10 rad/sec. Calculate the amount and angular orientation of the balance masses to be placed at a radial distance of 0.2 m. m1 = 2 kg , m2 = 2 kg , m3 = 2 kg , r1 = 0 .2 m , r2 = 0 .2 m , r3 = 0 .2 m

0.4m m1 0.8m 1.0m 1.4 m LCP Left Correction Plane m3 RCP Right Correction Planes
* * * * * = 0 ; M RCP + M 1 + M 2 + M 3 = 0

m2

m1

r1 r3 m3

r2 m2

* * * * * * F = ; F + F + F + F + F 0 LCP RCP 1 2 3 =0

LCP

where F1 = m1 r1 2 = 2 * 0 .2 * 10 2 = 40 N F2 = m2 r2 2 = 2 * 0 .2 * 10 2 = 40 N F3 = m3 r3 2 = 2 * 0 .2 * 10 2 = 40 N FLCP = m LCP rLCP = ? FRCP = m RCP rRCP = ?

where M 1 = l1 F1 = 0 .4 * 40 = 16 Nm M 2 = l 2 F2 = 0 .8 * 40 = 32 Nm M 3 = l3 F3 = 1 .0 * 40 = 40 Nm M RCP = l RCP FRCP = ? M RCP = 43 .2 N = l RCP FRCP = 1 .4 * FRCP 43 .2 FRCP = = 30 .86 N 112  1 .4 F 30 .86 m RCP = RCP 2 = = 1 .54 kg 112  0 .2 * 100 rRCP

m LCP =

FLCP 16 .2 = = 0 .81 N 44 .6  2 2 rLCP 0 .2 * 10

F2 F1 FLCP =16.2 N FRCP

OF F3

M2 M1 OM M3 M RCP=43.2 N