Shaking Force and Shaking Moment Balancing in Robotics: A Critical Review

Mechanism Balancing Taxonomy

“…Four different balancing typesstatic balancing, shaking force balancing, shaking moment balancing, and dynamic balancingare presented in the literature known to the authors, and various classifications have been proposed [13][14][15][16][17][18][19][20] covering the most well-known balancing types. The taxonomy introduced in the present article allows for a more refined sorting of balanced mechanisms into 15 rigorously defined types with unequivocal mechanical properties, including 11 balancing types that have not been mentioned in the known balancing classifications.…”