Abstract
The equations for complete shaking force balancing of an open-loop spatial chain consisting of pairs without sliding freedom, a single loop spatial n-bar linkage with R- R link consisting of pairs without sliding freedom, as well as a single loop spatial n-bar linkage with only one P pair are derived in this paper. For a single loop n-bar linkage with R- S link, the equations of complete shaking force balancing are derived also, if the mass center of the R- S link has some constraint. In the examples, the equations of complete shaking force balancing of Bennett, RRRSR, RRPSR and RRSRR linkages are given.
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