Function generation with the RRRCR spatial linkage

This paper presents a systematic approach to perform the function generation synthesis of the spatial RRRCR linkage for six precision points. The mathematical model associated with the synthesis process is a system composed of six multivariate polynomial equations and two quadratic equations, which must be solved for the design parameters of the linkage. Due to the highly nonlinear and extremely complex nature of the design equations, there was used a computer package (BERTINI©) in order to find all numerical solutions. The applicability of the proposed approach is illustrated by the generation of three nonlinear functions.