GENERAL METHOD FOR FULL FORCE BALANCING OF SPATIAL AND PLANAR LINKAGES BY INTERNAL MASS REDISTRIBUTION.

In the present paper, a general method for full force balancing is developed. The method may be applied for any linkage both spatial or planar, single or multi-loop consisting of any kind of lower pairs. By the procedure, three sets of general force balancing conditions for the main directions X, Y, and Z are derived. The conditions of identity or difference of these three sets are found, and the existence of particular balancing equations for some privileged directions are established. These equations do not follow from the Berkof and Lowen method. They could be usefully applied if the 'Contour' theorem of Tepper and Lowen is violated or if the partial balancing along the existed privileged axes is preferred.