Abstract: The paper presents design equations and techniques for the full shaking force and shaking moment balancing of planar linkages. The balance includes all mass effects due to both linear and rotary inertia, but excludes external loads. The method utilized is a combination of mass redistribution and addition of two kinds of the inertia counterweights, which are the feared inertia counterweight and the planetary-gear-train-inertia counterweight. A six-bar mechanism with prismatic pairs is used as an example which shows the general process for deriving the balancing conditions of linkages. According to this theory, we presents the approach of decomposition of the linkages. According to this theory, we presents the approach of decomposition of the linkages only with revolute pairs for the entire force and moment balancing of the mechanisms. It is that the force and moment balancing of the multi-bar linkages only with revolute pairs is changed into the balancing of several four-bar linkages and two-link dyads. An example is included.

Key words: 摆动力, 摆动力矩, 配重, 平衡