Kinematics of Spherical Mechanisms

We are surrounded by examples of the spherical mechanisms described in this book, such as the universal joint, a swiveling electric fan, or a pair of bevel gears. This subject has received massive impetus from robotics, where many of the results of the theory find their application . In response to the need for a definitive handbook on the kinematics of spherical mechanisms, Professor Chiang has written the first new account to appear for almost half a century. The author first introduces the spherical four-bar linkage, analyzing the velocities and accelerations. The spherical counterparts of well-known theorems in plane kinematics are examined. In the major part of the book three types of dimensional synthesis problems are considered: body guidance, path generation, and function generation. Finally, other useful mechanisms such as spherical dwell mechanisms, spherical Geneva mechanisms and spherical six-bar linkages, and the harmonic analysis of spherical four-bar linkages are discussed in the last two chapters. Readers of the book will appreciate the use of vector and matrix methods, and the exclusion of non-linear equations. It is primarily a handbook for the professional designer of mechanisms, but it will also be of value as a graduate-level text.