Synthesis of Function Generating Spatial Mechanisms With Optimum Structural Error

Abstract

The design of a spatial four-link RSSR mechanism for function generation with optimal structural error is examined. Analytical equations relating the design parameters are obtained by forcing the extreme errors in between accuracy points to be equal in magnitude by imposing the necessary constraints. The procedure for computing the linkage parameters in a function generation synthesis of an RSSR mechanism with optimal structural error is illustrated with a numerical example. This method provides an effective approach to the synthesis of spatial mechanisms for function generation with optimal structural error and represents a useful addition to the methods at the discretion of engineers in the design of spatial mechanisms.