A general closed form method of planar kinematic synthesis is applied to spatial function generating mechanism for up to the maximum number of precision positions. Computer programs are written for the computation of five, seven and eight design parameters of four-revolute spherical, RCCC and RCRP and of spatial RSSR function generators, respectively. Structural error of these four-link spatial function generators is compared to that of Freudenstein’s optimized five-point planar four-bar function generators.

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