Abstract
This paper presents extensions to the theory of force-balancing planar linkage mechanisms given in [1]. It incorporates (i) a technique for checking whether a linkage can be fully force-balanced using counterweights alone, (ii) a formula that defines the minimum number of counterweights needed for a full force-balance, and (iii) a criterion for selecting what is likely to be the optimum counterweight set. The linkages may be multi degrees-of-freedom and may contain both revolute and prismatic joints.
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