This paper presents the kinematic analysis and optimization technique required for the optimal attachment of a spherical joint (i.e., a ball in a socket) to the ground pivoted link of an RSSR spatial four-bar linkage. The optimization technique is a searching algorithm, which can be applied to the problem of optimal spherical joint attachment in other types of spatial linkages as well. This attachment optimization is necessary if the socket of the joint is to have its maximum ball retention capability. The optimization technique is illustrated by an example.

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