The flexibility to the variation of the dynamic effects of the active balancer was obtained by adjusting the speed trajectory of its control motor. Based on the concept of adjustable mechanisms, a method was presented for improving the compensation characteristics on the input torque of the aforementioned balancer. The main point was to let one of the link lengths of the basic linkage of the balancer adjustable. The design procedure based on sensitivity analysis and optimization was developed. By optimizing the length of the adjustable link together with the speed function of the control motor, effective compensation on the dynamic performance under different working conditions can be achieved. A 5R- based active balancer was taken as an example to illustrate the procedure. The results show that the introduction of the adjustable link expands the design space of the balancer for improvement of the dynamic performance, especially the compensation for the input torque and thus brings more flexibility in application.
