An　analytical　and　experimental　study　on　the　dynamic　balancing　of　flexible　mechanisms　is　presented　by　the　way　of　redundant　drive　in　this　study.　The　dynamic　model　of　flexible　mechanism　with　a　redundant　actuator　is　developed　at　first.　The　optimum　shaking　force　and　shaking　moment　balancing　of　a　flexible　four-bar　linkage　has　then　been　obtained　using　an　additional　actuator.　Finally,　the　experimental　study　on　the　dynamic　balancing　of　the　flexible　mechanism　is　presented.　Both　the　numerical　simulation　and　experimental　result　demonstrate　the　advantage　of　redundant　drives　on　the　dynamic　balancing　of　flexible　mechanisms.　(C)　2005　Elsevier　Ltd.　All　rights　reserved.