The Generalized Reduced Gradient method of numerical optimization is applied in obtaining the reduction of moments and forces transmitted to the frame of a three-dimensional RSSR mechanism. Such a modification of dynamic behavior of the mechanism, or balancing, is achieved by the addition of counterweights attached to the moving links in an off-line position. The evaluation of the obtained optimum configuration is performed by comparing the measured vibration levels of the frame of physical models of the balanced and unbalanced mechanism.

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