Shaking forces and moments are often undesired. Complete balancing of these effects usually is associated with considerable additional mass and inertia. This paper proposes a light-weight solution concept to the complete force and moment balancing of linkages based on the combination of a counterweight and a separate counter-rotation into a single element. This element will be called a counter-rotary counterweight (CRCW). It will be shown that for a 1dof rotatable link a reduction of added mass by about 40% and a reduction by about 20% of added inertia have been achieved, as compared to a standard solution, after optimization of both mechanisms for minimal inertia. Generalization of the proposed principle is also discussed.

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