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Based on the finite position method, a zero coupling planar high-speed stamping mechanism with two end effectors was designed and analyzed for complete shaking force balance. Firstly, the mechanism was divided into three sub-kinematic chains (SKC) by topological analysis, and the number of connecting branches and branches in each sub-kinematic chain was determined according to the principle of tree system division. Then, the position of the mechanism was analyzed. The mass moment of each sub chain was solved in turn, and the relationship between the total mass moment and the angular position of each component was obtained. By calculating the total mass moment of the mechanism at five different positions, multiple linear equations were established, and the balance weight parameters m*i and p*i of each branch member were obtained. Finally, the influence trend of m*i and p*i on the total center of mass track fluctuation and the total inertial force after balancing was analyzed. It was found that the change of m*i had a greater impact on the final balance effect. When m*i was 0.002kg, compared with that before balancing, the components of the total mass center trajectory fluctuation and the total inertial force in the x and y directions were decreased by 44.44%, 59.78%, 72.94% and 5.40%, respectively, which verified the validity of the condition of complete balance of the pendulum force. The finite position method was simple, effective and easy to program by computer. The research result provided an idea for solving the condition of complete balance of mechanism shaking force.