The design of spherical 4R linkages for four specified orientations

This paper describes a computed-aided design software system for spherical four-bar linkages that is based on Burmester's planar theory. The designer identifies a task in the form of four goal orientations for the floating li nk and the software generates an array of available linkages known as the t ype map, The equation of a spherical triangle provides a direct connection to the graphical techniques of Burmester. This paper further develops the l inkage type characterization required for an assessment of the resulting de signs. (C) 1998 Elsevier Science Ltd. All rights reserved.