Experimental Techniques (2024) 48:177–185

https://doi.org/10.1007/s40799-023-00650-4

BRIEF TECHNICAL NOTE

Low‑Cost Rotor Balance Training Design

R. A. Figueroa Díaz1 · A.deJ. Balvantín García2 · P. Cruz Alcantar3 · L. Rangel Lucas1 · L. Esquer Barahona4 ·
V. A. Ramírez Elías2

Received: 3 June 2022 / Accepted: 25 April 2023 / Published online: 12 May 2023
© The Author(s) 2023

Abstract
This work proposes the low-cost design and manufacture of an experimental rotor for specialized undergraduate training in
the field of mechanical vibrations. Likewise, the plane balancing methodology is presented using the influence coefficient
method. To keep costs low, a commercial rotating element will be used in which balancing planes will be assembled at the
ends, ensuring that the rotating system’s nominal speed passes through two of its natural frequencies. This training prototype
will improve learning by theoretically and experimentally analyzing the concepts of influence coefficient balancing using
an international standard.

Keywords Training prototype · Rotating system · Influence coefficient · Balance

Introduction study of mechanical vibrations is encouraged as a specialty,

either in mechanical design or diagnosis. This need is due to the
In the last stage of university level training, where the mechani- widespread use of rotating machines at an industrial level, rang-
cal area is cultivated through careers such as Mechanical, Elec- ing from rotating motors weighing a few grams to turbines that
tromechanical, Mechatronics, or Industrial Engineering, the can reach several tons; however, at an educational level, theo-
retical training does not necessarily reflect the industrial need.
Prototype development has been commonly used in the
* R. A. Figueroa Díaz engineering field to attempt to measure how much a student
rafael.figueroad@itson.edu.mx has achieved in a particular competency, as well as their pre-
A.deJ. Balvantín García viously acquired knowledge; however, due to the high cost of
antonio.balvantin@ugto.mx obtaining a commercial prototype, functional prototypes are
P. Cruz Alcantar commonly made that might not be safe for continuous class-
pedro.cruz@uaslp.mx room or laboratory use. The maturity of rapid prototyping
L. Rangel Lucas technology and its consequent cost decrease has led different
laura.rangellucas@potros.itson.edu.mx universities and individuals to acquire 3D printing equipment
L. Esquer Barahona for use in generating prototypes that help stimulate students
Luis_eb94@hotmail.com and motivate them to see their initial designs when using this
V. A. Ramírez Elías developing technology for educational purposes, as stated in
va.ramirez@ugto.mx [1]. The use of 3D stereolithography printing for the manufac-
1
ture of a variety of mechanical equipment is presented in [2],
Electric and Electronic Department, Technologic Institute
where knowledge acquired in previous courses in mechanical
of Sonora, 818 5 de Febrero Sur, CP. 85000 Obregón,
Sonora, México and thermal stress analysis, CAD drawing tools, finite ele-
2 ment simulation, plastic injection manufacturing processes,
Department of Mechanical Engineering, University
of Guanajuato, Guanajuato, México mechanical joints, and others are applied together. In [3], addi-
3 tive manufacturing is used for the creation of training robots to
Department of Mechanical Engineering, The Autonomous
University of San Luis Potosí, San Luis Potosí, Mexico improve the teaching–learning process for master's students in
4 robot design. Along the same lines, [4] presents how Nanyang
Department of Maintenance, Edgewell Personal Care
Company, Boulevard Circunvalacion, Parque Industrial, Technology University adjusted its curriculum towards the pre-
85060 Cd Obregón, Son, Mexico cision manufacturing industry and emerging nanotechnology,

Vol.:(0123456789)
178 Experimental Techniques (2024) 48:177–185

as in 2004, this branch represented 28% of Singapore’s gross Table 1  Experimental rotor elements
domestic product. In [5], Ahmad and Sosa present a case study Number of Identification of elements Cost
in which full-scale prototypes were developed with students in Elements
their final semesters from the interior design, graphic design,
1 ½ hp 3,600 rpm bench grinder 2,800.00 MXN
visual arts, and multimedia areas, interacting with technologi-
2 4140 steel balancing planes 4,000.00 MXN
cal tools such as numerical control, welding, sheet bending,
10 1/8 coarse thread screws of differ- 30.00 MXN
and 3D printing machines, allowing participants to develop ent weights
practical skills that they will require in their careers, result-
ing in a high degree of commitment on the part of students to
obtain 80% of the finished products. However, this is limited Python languages as the most widely used. Additionally, [16]
by the relatively small number of students who can be trained discusses a proposal for the design of the necessary libraries to
in this manner. In [6], the authors proposed starting the vibra- be developed in the control software of a robotic system with
tion and control laboratory equipment via projects developed industrial or training applications. Expansion of the develop-
by students who are taking the subject, using specific analysis ment of graphical interfaces in other areas of mechanics which
systems studied during the course, and found an improvement seek to improve undergraduate learning in the subject should
in learning compared to theoretical teaching of the subject. be highlighted, such as mechanism analysis, as stated in [17],
The use of simulations and experimentation is presented in by developing a user interface with Matlab software to imple-
[7], mainly in the control area, as a tool to improve the teach- ment the kinematic equations that govern a four-bar crank-
ing of historically theoretical courses, achieving an increase in rocker mechanism. This type of mechanism is used in [18] at
retention of the field’s concepts, as well as in problem-solving the training level to know the performance of a sliding mode
ability. Likewise, a mechanical system was developed in [8] movement control when using a direct current (DC) motor.
to analyze the critical speed and imbalance effects in a Jeffcott Likewise, simulation of the application of a PID control in the
rotor coupled to an electric motor with a flexible coupling. dynamic equations of the crank-rocker mechanism is presented
In [9], the analytical, numerical, and experimental study of in [19], considering a DC motor with a gear speed reducer.
the concept of stress by mechanical deformation is illustrated, In [20], the input speed variation in a crank-rocker mecha-
which will allow generating significant training in machine nism using a CVT transmission is proposed, this being the
element design or related subjects, with application at the link between an alternating current (AC) motor and the 4-bar
undergraduate and postgraduate levels. Likewise, an analysis mechanism, using the simulation to present the conclusions.
of the Computer Science area in a Malaysian University is [21] presents the design of a rehabilitation prototype using
presented in [10], which proposes an online tool that allows a 5-link planar mechanism made with additive manufactur-
increasing the number of passes in Introduction to Program- ing, while [22] uses the educational level mathematical tool
ming. Along the same line of work, [11] explains an analysis called GeoGebra to determine the displacement, velocity, and
that allows knowing the learning styles applied in introduc- acceleration parameters of a 4-bar mechanism. In [23], the
tory programming courses, finding that the Soleman-Felder SolidWorks tool is used to determine the speed, acceleration,
model is the most widely used in this area. In [12], the design, and output force of two coupled crank-rocker mechanisms.
development, and implementation of a complementary tool for The same type of mechanism is used in [24] when applying the
onsite classes is presented to improve the learning process at Lagrange method to obtain the corresponding kinematic equa-
the Modibbo Adama Technological University in Yola, Nig- tions and their simulation using Matlab's Simulink without
era; this was applied to third-year Computer Science students,
and the results show an increase in the student’s use of knowl-
edge development in comparison to the traditional methodol-
ogy (fully in person). Related to the original topic, another
area of interest where practical training in students is high is
the field of robotics, where the use of commercial computer
packages is often chosen for instruction and learning. In [13]
and [14], two methodologies for mapping the development and
application of software tools commonly used in robotics are
discussed, finding that the largest number of articles published
focus on software design and construction and also present-
ing the databases where the relevant research articles can be
found. In [15], an empirical study is presented through appli-
cation in the industrial and academic sectors for the develop-
ment of software applied to robotics, identifying the C +  + and Fig. 1  3,600 rpm commercial grinder
Experimental Techniques (2024) 48:177–185 179

Fig. 2  Schematic of a balancing plane

presenting some type of verification of the characteristic pat- evaluated. However, due to the high costs involved in train-
terns obtained. In [25], a specific approach for the balancing ing prototypes, and since these are subjects at the end of
of a crank-rocker mechanism is shown using the optimization professional training, it is difficult to obtain the necessary
process called Differential Evolution when using Cartesian resources and equipment. For example, an RK-4 training
coordinates, while in [26], the experimental balancing proce- rotor from Blenty Nevada was quoted at $21,176.00 USD
dure in a crank-rocker is studied, considering an elastodynamic (plus tax) in 1984, not considering any type of electronic
behavior in the links. A review of the state of the art for the
dynamic balancing of mechanisms is presented in [27].
Therefore, for courses focused on mechanical vibrations
in rotating systems at the undergraduate level, an area of
opportunity is identified by designing a low-cost training
rotor for balancing training as well as the development of the
methodology via the influence coefficient method on a plane.

Low‑Cost Experimental Rotor Design

In higher education, in final semester academic training

courses, where the objective is to study the phenomenon of
mechanical vibrations in rotating systems, not only is the
theoretical part required, but also the corresponding labora-
tory, where practical study of the subject is developed and Fig. 3  Training balancing rotor
180 Experimental Techniques (2024) 48:177–185

to match the mass of the grinding stone to that of the balanc-

ing plane to be machined to avoid significantly affecting the
rotor’s two natural frequencies in its speed range. Thus, the
following figure shows the standardized schematic based on
[28] (Fig. 2).
As can be seen in the figure above, the balancing plane
contains 28 holes that will allow (correction or imbalance)
weights to be placed at a distance of 12.85°, which generates
a low-cost rotor by coupling the balancing planes to the com-
mercial grinding wheel to provide students with specialized
training in their final round of univeristy courses. The final
rotor is shown in the figure below:
The rotor shown in Fig. 3 allows performing balancing
exercises (modal or influence coefficient) and vibration fault
diagnosis (imbalance level or of initial problem detection in
Fig. 4  Basic concept of the influence coefficient method
the various bearing components), as well as the identifica-
tion of natural frequencies during rotor stop.
instrumentation. This represented a remarkably high cost
The proposed device generated a total cost of $6,830
for many higher educational institutions at in Mexico for
USD, which represents 1.6% (considering an exchange rate
training in a very specific area.
of $20 MXN to the dollar) of the cost of the commercial
This work proposes the development of a lower-cost train-
training rotor available for balance training. Note that the
ing rotor than those commercially available. To do this, the
commercial training rotor has the capacity to simulate mis-
elements shown in the following table will be used (Table 1).
alignment faults, imbalance, faulty bearings, natural fre-
As a fundamental element, a commercial grinder is used,
quency identification, and hydrodynamic instability.
as it is an easy to locate and acquire electromechanical
device, as well as for its ease of starting and stopping. An
illustrative image is presented below.
This commercially available device has the following
Balancing Method by Influence Coefficient
advantages:
on a Plane

• It is available from local hardware stores, commercial

In general, influence coefficient and modal balancing
methods are used in the rotor balancing process, as well
franchises (for example: Home Depot), or online retailers
as a method that blends the two. The influence coefficient
(Amazon, Mercado Libre).
method allows calculating the correction weights from
• It allows the user to start and stop the system at will.
the cause-and-effect phenomenon in a mechanical sys-
• It has two natural frequencies in its working range (0 to
tem, that is, by placing a known test weight and observing
3600 rpm) in its original form (see Fig. 1).
the reaction in vibration amplitude to that weight, while
• It can be trained for balancing on one and two planes.
the modal balancing method requires knowing the modal
• Reducing speed due to friction during shutdown allows
shapes and modal parameters to perform the same process.
each of the two natural frequencies to be audibly detected;
Therefore, the modal method requires that the analyst have
however, the system does not vibrate during fast startup
a deep knowledge of the dynamics of rotating systems,
when it crosses each of the natural frequencies.
while influence coefficient does not; however, the latter
• It is low cost.
method is widely used today for balancing in the field and
employed in commercial tools for the balancing process.
Drawing of the balancing planes, which are placed where
Part of the mathematical development for balancing is
the whetstones are currently located, are carried out in paral-
presented in [29–32] for rotors with two or more planes;
lel with those of the commercial grinder. Care must be taken

Fig. 5  Systems diagrams of a

plane
Experimental Techniques (2024) 48:177–185 181

Fig. 6  Instructional rotor instrumentation

however, the information presented omits information that

only a balancing specialist would know, which complicates
Fig. 7  Correction weight of commercial balancing equipment
training undergraduate students.
This method is based on consideration of a rotor’s linear
behavior when known test weights are added, generating a Likewise, it is essential that the phase angle (equal to zero at
proportional vibration amplitude, as shown in the figure below. low speed) coincide with the position of the reflective tape.
Figures 4 and 5 shows that placing a known initial weight The rotor is started at working speed, and the speeds
(W0 ) generates an initial vibration amplitude (V0 ). Subse- in amplitude and phase angle of the sensor S1 and S2 are
quently, a new test weight (W1) is placed when removing recorded, identifying the signal that generates data with the
the previous weight, which generates a vibration with a highest value. It will be assumed that the sensor S1 is used,
magnitude of (V1); a relationship between these param- which measures the vibration amplitude Va1 with its corre-
eters—known as the influence coefficient—can be found, sponding phase angle 𝜑a1. The original vibration amplitude
as expressed in the following equation: is then resolved into its real and imaginary components, as
shown in the following equation:
ΔV V − V0
𝛼= = 1 (1)
ΔW W1 − W0 Va1Real = Va1 𝑐𝑜𝑠𝜑a1
Va1Imag = iVa1 sen𝜑a1 (2)
A methodology for balancing the rotor on a plane at work-
ing speed was developed in a university course on Mechani- where Va1Real Y Va1Imag are the real and imaginary com-
cal Vibrations through the research work of a graduate stu- ponents of the real vibration amplitude. Then, the rotor is
dent, as presented in [33]. This is done by starting from the stopped, and a test weight is placed on plane 1, recording its
image below, which allows locating the placement of the magnitude W1 and its angular placement position 𝛽 . Breaking
vibration measurement sensors and the balancing plane. this down into its real and imaginary components returns
Prior to the balancing process, the equipment and the
W1Real = W1 𝑐𝑜𝑠𝛽
rotor bearings must be confirmed to be in good condition. (3)
W1Imag = iW1 sen𝛽
To do this, the instructor must perform a start and stop run
with the necessary safety elements. With the rotor turned With the test weight placed on plane 1, the rotor is
off, rotor instrumentation is carried out by placing the vibra- brought to its working speed and the vibration amplitude
tion sensors (displacement, speed, or acceleration) as well is remeasured to determine the degree of impact on the
as the optical tachometer connected to the acquisition cards. dynamic response; then, the variable Vd1 and its phase angle

Table 2  Vibration amplitude parameters at running speed

Original vibration Test weight Vibration after placement of test weight

Vibration amplitude at speed Va1 = 2.6479 mm W1 = 1.0grams Vd1 = 2.0534 mm

seg seg
Phase angle 𝜑a1 = 62 ◦ 𝛽 = 0◦ 𝜑d1 = 38◦
1
The vibration amplitude in speed is obtained numerically to compare the state of the equipment using the ISO 10816–3 standard presented in
[35]
182 Experimental Techniques (2024) 48:177–185

( )
Va1𝑅𝑒al + Va1𝐼𝑚ag
P1 = − (6)
𝛼
where P1 is the correction weight on plane one)in its real and
imaginary parts, the term Va1𝑅𝑒al + Va1𝐼𝑚ag is the origi-
(

nal vibration amplitude without any trial weight, and 𝛼 is

the calculated influence coefficient, while the negative sign
means that the correction weight will be placed at 180° from
the imbalance weight.
However, the calculated weight is on the Real-Imaginary
plane, which has no meaning for physical placement of the
correction mass on plane 1. To determine the Real-Real
plane, the correction weight uses the expression
√
(7)
( )2 ( )2
PTotalP1 = P1Real + P1Imag
Fig. 8  Final vibration amplitude in the first balancing run
where PTotalP1 is the correction weight to place on plane 1,
thus P1Real and P1Imag are the real and imaginary components
𝜑d1 are recorded to subsequently obtain their corresponding of the variable P1,while the correction weight will be placed
components again, as shown below. at an angle given by
Vd1𝑅𝑒al = Vd1 𝑐𝑜𝑠𝜑d1 P1Imag
( )
Vd1Imag = iVd1 sen𝜑d1 (4) 𝛾 = tg −1
(8)
P1Real
where Vd1𝑅𝑒al and Vd1Imag are the real and imaginary compo- Consider that, for placement of the correction mass, it is
nents, respectively, of the vibration amplitude after place- necessary to start from the zero generated by the reflective
ment of the test weight. tape and in the direction opposite to the rotation of the rotor.
With the expressions in equations (1) to (4), the influence In the event that the calculated correction weight
coefficient 𝛼 is calculated using the following expression: reduces the vibration level, then the calculated influence
( ) ( ) coefficient can be used permanently for the balancing pro-
Vd1𝑅𝑒al + Vd1Imag − Va1𝑅𝑒al + Va1𝐼𝑚ag
𝛼=
ΔV
= (5) cess with only the original measurement. However, when
the rotor undergoes a significant change during the main-
( )
ΔW W1Real + W1Imag
tenance process or a change of supports or foundations, a
The expression in equation (5) is known as the influence new influence coefficient must be determined.
coefficient in its real and imaginary components, and this If, when balancing the first run, the vibration levels
parameter has a permanent relationship with this rotor for are not within the standard used, then the same procedure
subsequent balancing processes. This relationship represents must be applied again with the calculated influence coef-
the rotor response in terms of vibration amplitude given a ficient until the levels are within the range determined by
known weight. the specific company or standard.
From this step, it is possible to determine the correction The proposed methodology was validated using a com-
weight to place on plane one, by considering the previous mercial device given an installed instrumentation, as
expression, where it is redefined as shown in the figure below (Fig. 6).

Fig. 9  a Undergraduate student

receiving training on the DSP
Logger MX 300 equipment,
b) data acquisition window for
single-plane balancing

a) b)
Experimental Techniques (2024) 48:177–185 183

CTC Industrial sensors with a sensitivity of 200 mV/g

As it is a theoretical/practical class, it is important to find a proper balance between

Of course. This standard provides a kind of refuge or shield (as almost all rules do)
were used for this case study, as well as an optical tachom-

Yes, of course, because the equipment is already industrial (even educational), it

helps to reinforce what was learned in class through related hands-on practice
eter to determine rotor speed and the phase angle of the

Because it covers all the theoretical information on which this class is based
vibration vector. The equipment used was the DSP Logger

in the event of an accident or setback in the mechanical balancing field

MX 300 model, whose technical characteristics are shown
in [34].
The data presented in the table below were acquired
by following the procedure presented above (equa-
tions (2)–(8)) (Table 2).
Using a programming tool to implement the one-plane
balancing methodology, the correction weight is found to
be PTotalP1 = 2.3281grams placed at ∠ − 47.2507◦.
Meanwhile, the MX 300 DSP Logger device returned the
both points for suitable class learning

information presented in the following figure.

The correction weight in the figure above is 2.3131grams
placed at −47◦; the difference in mass between the proposed
methodology and that used for commercial equipment is
0.64%, while it is 0.53% at the placement angle. This differ-
ence may be due to the DSP Logger MX 300 device using
integer values in its display.
The commercial equipment provides the size of the weights
and the corresponding hole into which the mass must be
placed, in such a way that its vector sum is equal to the origi-
nal. The balancing weights presented in Fig. 7 were difficult
to apply, so a 1.1-g correction weight was placed for hole 25,
Student Answer

X
X

and an 0.8-g weight for hole 26. When remeasuring with these
Yes

Yes
Yes

Yes

No

No
No

No

weights, the final vibration amplitude is 0.9413 mm seg

a∠57◦,
which represents a 64.45% decrease in comparison to the
original vibration amplitude (Va1 = 2.6479 mm ). The behavior
1

seg
is shown graphically in Fig. 8.
2 Do you consider the use of ISO 10816–3 important for the mechanical balancing

Therefore, the calculated influence coefficient is consid-

competencies corresponding to balancing mechanical systems when studying

ered a significant constant and is used for further reduction

1 Do you consider the use of industrial equipment relevant for developing the

of the vibration level, as well as for further balancing of the

same rotor.
The results of the proposed methodology and those
obtained using a commercial tool validate using procedure
proposed in this research work in the classroom for rotor
balancing training considering a balancing plane and using
the influence coefficient method in undergraduate Mechani-
cal Vibrations lectures.
Table 3  Group-cunducted survey in online class

Survey Analysis

During the pandemic, in the January-May 2021 semester, the

subject denominated "Mechanical Vibrations" was taught
Mechanical Vibrations?

online to a group of 15 students, with 13.3%, answering

a survey, while the class was taught in person during the
January-May semester to a group of 13 students, 61.5% of
which responded to this instrument.
process?

The methodology presented in equations (1)–(8) of the

Question

previous section was developed specifically in the online

course: Studying balancing using influence coefficients on
184 Experimental Techniques (2024) 48:177–185

a plane. Validation was carried out by solving balancing instrumentation (vibration sensors, optical tachometer,
problems with data stored from runs from previous courses, acquisition and processing cards, and interpretation soft-
such as that shown in Fig. 7. ware). However, the high cost of completing the necessary
Meanwhile, the January-May 2022 group used the stages can barely be covered by public universities. Another
equipment presented in Fig. 9 below. additional problem is the reduced number of students who
Figure 9 (a) shows the training rotor in operation dur- take the subject, since it is commonly offered as an elective.
ing the training process, with an imbalance weight being A 2014 quote for a training rotor was priced at $21,176.00
placed arbitrarily, while Fig. 9 (b) shows the system's USD, demonstrating how valuable this specialized training
acquisition interface with the test weight. equipment is. However, as long as rotating equipment which
After this second analysis group’s normal semesters, requires maintenance is used in the industry, professionals
a survey was developed and the two study groups were specialized in the area of mechanical balancing will still
asked to respond, with the interest group which had most be needed. Therefore, the subject begins with the design of
recently received the training showing greater participa- a low-cost experimental rotor, whose approximate value is
tion in filling out the survey. $6,830 MXN, with applications in training in balancing and
Therefore, the answers from the first analysis group identification of specific faults when analyzing mechanical
respondents are presented in the table below. vibrations. This reduction in cost is 98.4%, considering an
The above table presents the survey results from an Elec- exchange rate of $20 MXN to the dollar. In addition to the
tromechanical Engineering group studying the eighth semes- high cost of specialized training equipment, the use of bids
ter specialization course entitled "Mechanical Vibrations" is a federal requirement in national public universities, so
online during the August-December 2021 semester. Access the price can increase from 20 to 30% when an interme-
to the institutional laboratory was not allowed at that time, diary enters the acquisition process. The second necessary
so it was not possible to carry out the hands-on balancing element has to do with the balancing methodology to be
training. 100% of the students surveyed consider hands-on used, since this is difficult to find in specialized material
training and the application of an international standard nec- in such a way that allows the proposed expressions to be
essary for mechanical vibration control. The same instru- applied practically in the balancing process; therefore, it is
ment was applied during the January-May 2022 semester, necessary to resort to commercial equipment with balanc-
obtaining results similar to those presented in Table 3. ing programming, such as the equipment used in this article
The above table shows that student perception is that (DSP Logger MX 300), which generates little understanding
training with balancing equipment which they may see from the point of view of engineering training. This article
applied to rotating systems diagnosis or balancing in the presented a plane balancing methodology for using influence
regional industry is fundamental, as is making the theoreti- coefficient at the system’s working speed. Therefore, there
cal result converge with that obtained in industrial equip- is a significant advance that allows supporting training in
ment. However, this way of working in subjects which are specific skills in the area of mechanical vibrations, such as
to be promptly applied to solving problems in the industry, balancing rotating systems.
due to the instructor’s high training cost and low resources
Acknowledgements The authors would like to thank the PROFAPI
for the renewal of industrial balancing equipment, means 2023 project of Technological Institute of Sonora for the financial sup-
that it has been in use for 7 years as of today. Likewise, the port given to this study.
latter is an area of opportunity for researching and devel-
oping low-cost equipment at the same University. Declarations
Conflict of Interest On behalf of all authors, the corresponding author
states that there is no conflict of interest.
Conclusions
Open Access This article is licensed under a Creative Commons Attri-
It is common to find the subject of Mechanical Vibrations bution 4.0 International License, which permits use, sharing, adapta-
tion, distribution and reproduction in any medium or format, as long
in terminal degrees related to mechanics, and one approach as you give appropriate credit to the original author(s) and the source,
offered in the subject is the balancing of rotating systems. provide a link to the Creative Commons licence, and indicate if changes
However, to develop the technical skills needed in this criti- were made. The images or other third party material in this article are
cal process (a poorly placed correction weight can increase included in the article's Creative Commons licence, unless indicated
otherwise in a credit line to the material. If material is not included in
vibrations to levels so high that equipment may fail at work- the article's Creative Commons licence and your intended use is not
ing speed or during startup and shutdown), it is necessary permitted by statutory regulation or exceeds the permitted use, you will
to complete 3 stages: obtain a training balancing rotor, plan need to obtain permission directly from the copyright holder. To view a
a clear balancing methodology, and acquire the necessary copy of this licence, visit http://​creat​iveco​mmons.​org/​licen​ses/​by/4.​0/.
Experimental Techniques (2024) 48:177–185 185

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