Abstract
The complete shaking force and shaking moment balancing of spatial linkages is a very difficult problem on dynamic balancing of mechanisms, it is overcome for the first time by the way of adding dyads between links of mechanisms in this paper. The general formulae and equations of the complete balancing of spatial open chain containing axial pair and spatial single loop mechanism containing no more than one spherical pair are shown. The specific mechanisms, such as Bennett mechanism, RSCR mechanism, and RRRSR mechanism are completely balanced as examples.
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