This paper is based on the use of complex harmonic series in the examination of plane mechanisms. Certain general considerations are established for the kinematic solving of binary structural groups (Assur groups). Further, a general systematization of the mechanisms is made by associating the dyads to two driving links (which can have rotatory or translatory joints or a combination of them). The solutions obtained in the general study of dyads are also presented, under the specific conditions of five or four-bar mechanisms. Simplified forms are obtained. The method leads to a unified calculation for various types of five-bar mechanisms, and also for four-bar mechanisms as a particular case of the former. A numerical example for a case of a five-bar mechanism is also included. It is shown that the application of the method of complex harmonic series facilitates the examination of five-bar mechanisms.

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