Balancing of four-bar linkages using maximum recursive dynamic algorithm

This paper presents a simple, computationally efficient technique for the optimum balancing of four-bar linkages. The methodology is based on the maximum recursiveness of the dynamic equations for the evaluation of bearing forces. Besides, the balancing problem is posed as an optimum problem for which the optimality criteria and the constraints are formulated. Mass distribution of linkage is embedded in the constraints to obtain physically feasible linkage. The formulation is very generic and can be easily extended to multi-loop as well.