Complete shaking force and shaking moment balancing of RSS'R spatial linkages

This paper deals with a solution of the problem of shaking force and shaking moment balancing of the RSS'R spatial linkage. Design equations and techniques are proposed, making possible the dynamic substitution of the mass of the connecting coupler by two concentrated masses. By applying this approach, the dynamic model of the coupler represents a weightless link with two concentrated masses. This allows for the transformation of the problem of shaking force and shaking moment balancing of the spatial linkage into a problem of balancing rotating links carrying concentrated masses. A simplified approach is developed for computation and minimization of the input torque of the balanced linkage. The suggested solution is illustrated by a numerical example.