Synthesis of Planar RR Dyads by Constraint Manifold Projection

In this paper we present the constraint manifold of the planar RR dyad. The constraint manifold is an analytical representation of the workspace of the dyad. We then derive a technique, utilizing the constraint manifold, for performing the dimensional synthesis of planar RR dyads for approximate rigid body guidance through n positions. Finally, we present the implementation of the design methodology in the software VISSYN and discuss its use in a design case study.