The Dynamic Synthesis of Spatial Mechanisms to Minimize the Kinetic Energy Fluctuation

Using the triangular decomposition of a positive definite matrix and the coodinate transformation of characteristic parameters, this paper, for the first time, develops two equations, used for the direct synthesis of distribute-mass-parameters of motive links in spatial mechanisms. These techniques not only ensure reasdnable results but also eliminate the majority of constrained inequalities, thus enhancing computing speed and accuracy greatly.