Complete shaking force and shaking moment balancing of linkages

This paper deals with new methods suggested to realize a full dynamic balancing (shaking force and shaking moment balancing) of planar linkages by addition of articulated two-link groups to the mechanism to be balanced. The principles of construction of self-balanced mechanical systems which consist of two identical mechanisms executing similar but opposite movements are also considered here. The suggested methods are illustrated by numerous examples and accompanied by a comparative analysis.