We study the dynamics of fully frustrated, underdamped Josephson arrays. Experiments reveal remarkable similarities among the de current-voltage characteristics of several kinds of square and triangular arrays, where two resonant voltages are observed. Simulations indicate that a dynamical checkerboard solution underlies these similarities. By assuming such a solution, we reduce the governing equations to three coupled pendulum equations, and thereby calculate the voltages of the intrinsic resonances analytically.