Multiloop Spherical Linkages

Abstract

In this chapter, the design procedure introduced for the synthesis of planar six- and eight-bar linkages is applied to the synthesis of spherical six- and eight-bar linkages. The process begins with the specification of a spherical 3R chain or a spherical 6R loop and five task orientations. The synthesis equations for RR chains are solved to constrain the spherical 3R serial chain to design a spherical six-bar linkage, and to constrain the 6R loop to design an eight-bar linkage. The result is one degree-offreedom spherical linkages that move through the five task positions.