Design of the Spatial 4C Mechanism for Rigid Body Guidance

In this paper we present an algebraic formulation for the constraint manifold of the spatial CC dyad in the image space of spatial displacements. We then present a technique, utilizing the constraint manifold, for performing the dimensional synthesis of mechanisms for rigid body guidance through n positions. Finally, we present numerical results for 10 prescribed positions for the coupler of a spatial 4C mechanism.