This paper deals with the complete shaking force and shaking moment balancing of the four degrees of freedom SCARA robot. Dynamic reaction forces on the frame of the manipulator are eliminated by traditional approach making the total mass center of the moving links stationary. Reaction moments on the frame of the manipulator are eliminated by optimal control of the end-effector, which rotates with prescribed acceleration. A numerical simulation carried out on the software ADAMS illustrates that such a balanced SCARA robot transmits no inertia loads to surrounding, i.e. the sum of all ground bearing forces and their moments are eliminated.