Abstract
Attacking the problem with a method which is analogous to that in the planar case, we analyze first the moving and fixed polodes and their derivatives of a given spherical four-bar linkage, and then establish a synthesis procedure to construct a spherical four-bar linkage, so that the motion of its coupler matches a given spherical motion up to a certain order. A numerical example is given. In order to make a comparison of the three known methods of simulation, namely, the instantaneous invariants method, the body guidance method, and the polode method, we list the corresponding parameters used in each method, for planar as well as for spherical case, so that their characteristics and differences can clearly be understood.
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