Displacement Analysis of the Homogeneous, Orthogonal 7-Link 7R Space Mechanism
The input-output equations in the tan-half-angle for all angular displacements that can be chosen as output of a homogeneous, orthogonal, closed loop linkage with seven revolute joints are derived from a set of 20 equations in one parameter. To obtain these input-output equations (polynomial equations of degree 16 in three variables) a computer algebra program is used throughout the calculation.
Because of the enormous number of terms of these equations only the structure and numerical solutions of the input-output relations are presented here.
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