This paper improves the mass moment substitution method for shaking force complete balancing of planar linkage. The basic thought is that the shaking force complete balancing of planar linkage is reduced to the mass moment substitution of two pairs link and planar open chains. This paper chans. From the conditions and formulae
the conditions for shaking force complete balancing of a panar linkage can be formulated directly. The shaking force complete balancing of planar linkage involving six links is taken as an eample to illustrate the application of the mass moment substitution approach.