This paper proposes a generalized transmission index for spatial mechanisms, based on the transmission index introduced by Sutherland and Roth. This index is more general and welldefined in all the cases; it matches the virtual coefficient between the transmission wrench screw and the output twist screw exactly. A method is developed to compute the transmission wrench screw in spatial single-loop linkages. We illustrate the application of this index in a RSCR linkage.
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29th Mechanisms and Robotics Conference
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