Synthesis of a Six-Link Spatial Mechanism via Screw Triangle Geometry, Successive Screw Displacements, and Pair Geometry Constraints

Abstract

Using the theory of screw triangle geometry, successive screw displacement, and pair geometry constraints, a generalized synthesis procedure is proposed and demonstrated to synthesize for a variety of motion programs all possible six-link, two-loop spatial mechanisms with lower kinematic pairs. The mathematical procedure developed in this paper is illustrated by presenting two numerical examples. It is shown that the screw triangle circuit is the most fundamental element that permits us to derive synthesis equations for any type of synthesis problem.