A method is developed for the determination of force transmission criteria for spatial linkages of any structure. It is applied to a mechanism with seven links, to five-link RCRCR and RRSRR mechanisms, and four-link RCCC mechanisms. In addition there are presented (a) a mathematical indication of “dead positions”, (b) a means of bringing the synthesis solution into the space of those parameters for which a real mechanism may exist; (c) a means for the optimal synthesis of a mechanism with regard to favorable conditions of force transmission.

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