A reactionless machine will not apply reaction forces and moments on the mounting base during motion. This article presents the theory for design of a reactionless planar parallel mechanism. The salient features of this design are: (i) it uses auxiliary parallelograms to locate the center of mass of each leg at the base, (ii) choice of geometric and inertial parameters to satisfy the recationless conditions, (iii) selection of trajectory to achieve a reactionless design. We illustrate the reactionless feature of such a mechanism through computer simulations.

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