This paper presents the synthesis of the RSSR-SS path generating spatial mechanisms. The method of solution involves the Selective Precision Synthesis technique to formulate the equality and inequality constraints which are then solved by the Generalized Reduced Gradient method of optimization. A closed from analysis technique is also developed, and by emphasizing the iterative nature of design, the mathematical complexity of the governing kinematic equations of motion for design are greatly simplified. Numerical examples for both analysis and synthesis are presented.

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