Kinematic synthesis of RRSS mechanisms for multi-phase motion generation with tolerances

This paper presents a new technique for synthesizing spatial RRSS mechanisms to achieve phases of both precise rigid body positions and rigid body positions with tolerances. This method is an extension of the adjustable RRSS motion generation synthesis method developed by the authors. By incorporating rigid body point tolerances in the rigid body displacement matrices and calculating mechanism solution loci for the prescribed rigid body positions under the tolerance limits, circle and center point regions can be calculated. R-R link solutions can then be selected from these regions. This paper considers two-phase fixed and moving pivot adjustment problems with fixed and adjustable crank and follower lengths.