Design equations for the complete shaking force balancing of 6R 6-bar and 6-bar slider-crank mechanisms

The article presents the design equations for complete shaking force balancing of commonly used planar Stephenson's and Watt's type 6R 6-bar and 6-bar slider-crank regular force transmission mechanisms using the method of linearly independent mass vectors. Regular force transmission mechanisms are those in which the shaking force can be completely balanced by distributing the masses of the existing links. Design equations are developed by considering the existing links. Design equations are developed by considering mass distributions of the coupler links and sliders specified whenever possible, so that the counter-balancing masses are mounted on the shafts supported by the fixed frame of the mechanism. Industrial design applications of the design equations given are illustrated in two numerical examples where the shaking force in a Stephenson's Type-1 6R mechanism and a 6-bar double-slider-crank mechanism used in V-engines is balanced.