The Displacement and the Coupler Curve Analyses of Some Spatial Mechanisms

The author applies constraint relations, projective method and matrix operations to the displacement analyses of spatial RSCR, RRSRR, RRRSR, RERRR, and RRERR mechanisms. Derivations of displace-ment equations are simple and intuitive. Based on this, the auther has developed a parametric equation for the coupler curve of the spatial RRRSR mechanism, and proved for the first time that the coupler curve is of the 32nd order. Finally, the imaginary point on the coupler curve is discussed.