Abstract
A mechanism, which, for any motion, does not apply reaction forces on the base, is said to be statically or force balanced. It is moment balanced or dynamically balanced if, moreover, it does not apply torques on the base. In this paper, an approach to determine the complete set of statically balanced spherical four-bar linkages is presented. Furthermore, it is shown that for all possible design parameters, it is not possible to dynamically balance such linkages.
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