Details for Design of 4-R Spherical Function Generator with Transmission Effectiveness by Curve Matching

This paper presents a greatly expanded set of computer solution curves for use in deSigning the four-revolute spherical function generators. These solution curves also provide a means of approximating transmissin angles. A description of the original method is included for determining the link dimensions of the spherical four-revolute linkage. This is accomplished by matching a plot of the desired function with curves derived from computer solutions of the displacement equation relating input and output angles of the linkage. The set of curves presented here is large enough for practical use. An example application is also provided.