Complete shaking force and shaking moment balancing of linkages

This paper proposes a new solution to the problem of complete shaking; force and shaking moment balancing of linkages. The method involves connecting to the mechanism to be balanced a two-link group forming a pantograph with the crank and coupler. Three versions of sub-linkages are considered: (1) the articulation dyad; (2) the asymmetric link with three rotational pairs; (3) the crank-slider mechanism. The mathematical basis for the realisation of this method is the well-known method of static and dynamic substitution of distributed; masses by concentrated point masses. The method is illustrated by new balancing schemes for the Stephenson and Watt linkages. (C) 1998 Elsevier Science Ltd. All rights reserved.