The synthesis of spherical motion generators in the presence of an incomplete set of finitely-separated attitudes is discussed in this paper. Given that five attitudes of the coupler link define a discrete set of dyads, any number of attitudes smaller than five is considered incomplete in this paper. The attitudes completing the set are determined so as to produce a robust linkage against variations in these attitudes. To this end, a theoretical framework as well as a general methodology for robust synthesis are laid down. Robustness is needed in this context to overcome the presence of uncertainty due to the selection of the intermediate attitudes, which many a time are left up to the mechanism designer’s judgment. To validate the concepts and illustrate the application of the methodology proposed here, we include a numerical example.

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