The dynamic balancing of flexible linkages that is a challenging topic in the dynamics of mechanisms is accomplished by active control with redundant drives for the first time in present study. The mathematical modal and dynamic equations of flexible mechanisms with redundant actuators are derived. The optimum shaking force and shaking moment balancing of a flexible linkage have been obtained through an active way of additional actuators. The effectiveness and advantage of redundant drives on the dynamic balancing of flexible mechanisms is fully demonstrated through an example of four-bar linkage.

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