Design of Space Mechanisms for Rigid Body Guidance

A generalized description of three-dimensional finite displacement of rigid body in matrix form is developed with constraint equations representing the physical constraint of basic space linkage elements. RRSS four-bar and RSSR-SS five-bar space mechanisms are investigated to give equations of synthesis for rigid body guiding through finitely separated multipositions in space and also equations of analysis to analyze the performance of rigid body guidance of the synthesized mechanisms.