An experimental study of the effects of counterweights on a six-bar chain☆

Abstract The frame shaking loads generated by the linkage were measured experimentallly both before and after the attachment of counterweights calculated to produce a complete force balance. Much of the benefit of the counterweights was found to be lost due to the effect of vibrations. In contrast, counterweights selected by means of non-linear programming techniques to minimise driving torque fluctuation were found to eliminate most of the vibrations. Speed variations were also measured.