On the seven position synthesis of a 5-SS platform linkage

This paper builds on Innocenti's polynomial solution for the 5-SS platform that generates a one-degree of freedom movement through seven specified spa tial positions of a rigid body. We show that his 60x60 resultant can be red uced to one that is 10x10. We then actuate the linkage using a prismatic jo int on the sixth leg and determine the trajectory of the reference point th rough the specified positions. The singularity submanifold of this associat ed 6-SS platform provides information about the movement characteristics of the 5-SS linkage.