CLOSED-FORM SYNTHESIS OF PLANAR AND SPATIAL LINKAGES FUNCTION GENERATION WITH SYMBOLIC REPRESENTATION

A new closed form method of planar and spatial kinematic synthesis for function generation with symbolic representation is presented. The in put-output displacement equation can be obtained quickly and easily fr om symbolic representation without any simplification. A computer prog ram for constructing the symbolic representation form can also be deve loped for this method. Two examples are given to illustrate how to use the symbolic representation for the kinematic synthesis. It is hoped that the method presented in this study will provide an easy and power ful tool for the synthesis of planar and spatial function generators.