An Overview of Balancing Methods

  • Vigen ArakelianEmail author
  • Sébastien Briot
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 27)


The review of state-of-the-art literature including more than 500 references is given in this chapter. The balancing methods illustrated via various kinematic schemes are presented in three main parts: shaking force and shaking moment balancing of linkages; shaking force and shaking moment balancing of robots and manipulators, as well as gravity balancing used in robotics. We consider that such participation reflects the particularities of the reviewed balancing methods and their specific characteristics.


Parallel Manipulator Gear Train Gravity Compensation Spatial Mechanism Auxiliary Mechanism 
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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  1. 1.Institut National des Sciences Appliquées (INSA), Rennes, France, and Institut de Recherche en Communications et Cybernétique de Nantes (IRCCyN), Nantes, FranceRennesFrance
  2. 2.Institut de Recherche en Com. et Cybernétique de NantesCNRSNantesFrance

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