Abstract: The dynamic balancing of flexible mechanisms is studied using redundant drives. The dynamic equation of the flexible mechanisms with redundant drives is developed at first. The optimum balancing of a flexible linkage is then obtained via additional actuator. The experimental study of a planar 4R linkage is presented finally. Both the numerical simulation and experimental result illustrate the effectiveness and advantages of the balancing method.

Key words: Dynamic balancing, Flexible mechanisms, Redundant drive