Mathematical models for analysis and synthesis of spatial mechanisms—II: Five-link spatial mechanisms

Abstract

In this paper the decomposition method for kinematic synthesis and analysis is extended to all 5-link, single-loop spatial mechanisms. This is accomplished by solving sets of equations which can be used to describe the mathematical models of all spatial 5-link mechanisms. These sets of equations can be sub-divided into sets of three equations describing the intersection of two planes and a sphere (computer program PREB0), and into sets of pairs of equations describing the intersection of a plane and a sphere (computer program PREB1). By way of examples the mathematic models for RRRSR, RSRRR, RRTTR, RRPSP and RTPPC spatial mechanisms are described, and an RRRSR mechanism used in sewing machines is analyzed.