A new method called “Finite Position Method” is presented in this paper. By means if this method, it is easy to obtain the condition for full shaking force balancing of planar linkages (FSFBPL), to derive the counter theorem and the minimum number of counterweights. The balancing condition could be generated easily via establishing and solving a system of linear equations using a few finite position data of the linkage. The basic principle of this method could be expanded to the study for balancing theory of the spatial linkages.

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