The balancing of complex linkage mechanisms

The development of linkage mechanism balancing is outlined. Methods originally applied to the four bar linkage with in-line and off-set couplers are described together with their application to more complicated mechanisms. Recent investigation of the six-bar linkage which yielded new results leading to the ability to obtain force balance in hitherto unbalancable mechanims is reported. The concept of mass flow which aides are understanding of the necessary procedures is introduced.