Kinematics of Machines
TE2030E
Class code: TE2030E - 157243
Instructor: Minh Bau Luong, Ph.D
[email protected]
Chapter 12
Balancing of Machines
12.1 Static and dynamic balancing of rigid rotors
12.2 Balancing of mechanisms
Balancing of machines refers to the process of minimizing or eliminating
unwanted vibrations and forces in rotating or reciprocating mechanical systems
caused by uneven mass distribution.
Balancing of machines refers to the process of minimizing
or eliminating unwanted vibrations and forces in rotating
or reciprocating mechanical systems caused by uneven
mass distribution.
Lead to:
• Vibrations
• Noise
• Bearing wear
• Reduced lifespan
• Structural fatigue
Understanding Vibration and Resonance https://youtu.be/vLaFAKnaRJU?t=606
An Animated Introduction to Vibration Analysis https://youtu.be/Vj1xmze3GlE?si=RUH03cApu9fVYqD8
Vibrations in Rotating Systems
To adjust the mass distribution (e.g., by adding/removing material or using
counterweights) so that the net force and net moment acting on
bearings during rotation are minimized.
Chapter 12. BALANCING OF MACHINES
12.1 Introduction
Unbalance is the most common cause of vibration in machines with rotating
parts. It must be carefully considered in modern machine design, especially for
high-speed and high-reliability applications.
Unbalance in a rotor results from uneven mass distribution, causing centrifugal
forces that rotate with the rotor. This leads to vibrations transmitted to the rotor’s
bearings, where each point experiences a force once per revolution.
Balancing aims to improve the rotor’s mass distribution to minimize these
centrifugal forces, ensuring the rotor rotates smoothly within its bearings.
12.2 Static and dynamic balancing of rigid rotors
Static balancing applies to a rotor in motion, specifically to rotors with a
diameter > 7–10 times their width (also called single-plane rotors).
Static unbalance occurs when the center of gravity of the rotor does not
align with its axis of rotation. This misalignment is caused by a point
mass located at a certain radius from the center.
To correct it, an equal mass is placed at the same radius but 180°
opposite the unbalanced mass. This restores the center of gravity to the
axis of rotation.
Static balancing focuses on resolving forces into one plane, adding a
correction mass in that plane. Alternatively, it can involve removing
material (e.g., by drilling) to reduce mass imbalance.
Condition for static balance: Sum of all inertia
forces acting on the moving rotor must be zero.
Only inertia forces affect balancing. External forces (e.g., from supports
or environment) cannot be corrected by balancing the rotor itself since
they don’t depend on the rotor’s internal mass distribution.
The requirement for static balance Unbalanced masses
Breaking into x and y components
b
And:
Balanced mass
Or by vector equation: Example:
MR vectors represent inertia forces, they act radially
outward and must be drawn parallel to the
corresponding radii.
The vector MeRe as shown is required to close the
polygon and produce equilibrium.
The magnitude of MeRe, when scaled, is found to be
369 units.
Find the mass Me at an 88.9mm radius:
e is measured and found to be 2660
Exercise:
The system has the following data
Find: The mass-radius product and its angular
location needed to statically balance the system.
1. Resolve the position vectors into xy components in the Solution
arbitrary coordinate system associated with the freeze-frame
position of the linkage chosen for analysis.
2.Solve equations 12.2c.
3.Solve equations 12.2d and 12.2e.
Static balancing machines
Dynamic Balancing
Dynamic balancing is the process of ensuring that both the
rotational forces (static) and the couples (moments) in a
rotor are balanced.
This prevents vibration and reaction forces at bearings
during rotation. It involves correcting both mass and mass
distribution across multiple planes.
Dynamic unbalancing
Dynamic balancing
Considering a rotor which has two concentrated masses M1 and M2 lying in
different planes C and D.
Even in the case two masses are equal, the static forces are in balance,
also dynamic forces F1 and F2 are equal and thus in balance.
However, F1 and F2
produce an unbalanced
couple equal to F1×a,
which will set up reactive
forces RA and RB at the
bearings A and B
The purpose of balancing any rotating equipment is to eliminate or
minimize forces transmitted to the bearings, thereby reducing vibration.
To achieve this, we must balance both the forces and the moments in
the system.
Illustrating the method for dynamic balancing a rotor
Unbalanced masses M1, M2 and M3 that lie in several transverse planes.
Choose any two transverse
reference planes A and B.
The distance in the axial direction
from plane A to masses Ml, M2, M3:
a2 a3 a1, a2, a3.
Distances to the right of plane A are positive +
Distances to the left are negative -. .
Inertia force: F = MR2
Balancing moments about plane A by
adding a mass MB in plane B so that
the sum of the moments about the X
axis is zero and the sum of the
moments about the Y axis is zero:
Adding a mass MA in plane A so as
to balance all forces in the X
direction and the Y direction:
Example with the rotor in the previous slide:
If we desire to find the values and angular positions of two masses which, if
added at a 76-mm radius, will balance the system statically and dynamically.
The location of planes A and B shown in the figure have been arbitrarily chosen.
Using the equations mentioned in the previous slide, we can find:
MA = 3.44 kg, A = 237.30
MB = 1.98 kg, B = 37.40
Or by Graphical solution:
Schematic drawing of a pivoted-cradle balancing machine
Adding balance weights
Drilling holes
