Spherical four-bar linkages with symmetrical coupler-curves

Abstract

In this paper we present analogies between planar and spherical four-bar linkages with symmetrical coupler-curves. Three types of planar four-bar linkages with symmetrical coupler-curves are investigated. For spherical linkages in contrast to these planar four-bar linkages, two types of them generate symmetrical coupler-curves, and so does the remaining one if it has special dimensions.