Abstract
Tepper and Lowen have shown that complete force balancing of planar linkage is possible using simple counterweights provided that from every point on the linkage there exists a contour to the ground by way of revolute joints only. This paper shows that if a linkage can be fully force balanced using the criterion of Tepper and Lowen, then it can be fully force and moment balanced using geared counter-inertias. Complete mathematical proof of this theory is given.
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