Kinematic position analysis of a notable bi-tetra-modal linkage: the RRRCR spatial linkage

This paper introduces a detailed formulation intended for the kinematic position analysis of a special type of RRRCR spatial linkage. As a result of the particular nature of its input-output equation, it was found that this is a bi-tetra-modal linkage. Such an extraordinary prop- erty makes necessary a careful planification of the direct and inverse kinematic position analyses. Both problems are based upon an anlaysis of the curves of intersection of the surfaces generated by points in the mechanism, and there is related in such a manner as to render it useful both in determining the position interrelationships of links of the mechanism, and in reducing the complexity associated with a three-dimensional motion problem. A numerical example is presented.