Abstract
Spatial mechanisms are the most general category of kinematic devices. They offer the greatest capability to accomplish any desired kinematic task. A mechanism exerts forces and moments on its supporting frame, which result in vibration. Balancing of shaking forces and shaking moments in mechanisms is important in order to improve their dynamic performance and fatigue life by reducing vibration, noise and wear. In the present paper the kinematic analysis of a spatial HHSHH mechanism is done by the method of Generated Surfaces, to get the velocities and accelerations of its various links which is necessary for the estimation of inertia forces in that mechanism.
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