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The spherical pair from RSRC mechanism structure determines bounded amplitude for the motion of the last element. A first solution regarding the increase of the amplitude proposed by the authors in a recent paper consists of an optimal assembly for the outer ring of the ball and socket joint and in the present paper the authors propose a solution for increasing the amplitude. Among the replacing solutions, two are simulated and analyzed comparatively to the initial mechanism. For the solution without the interference phenomenon, a numerical simulation is presented in order to highlight the kinematical effects due to replacement. The RSRC mechanism was selected for the study of replacement effects because the availability of the analytical solutions for relative displacements from kinematics pairs.

KINEMATICS EFFECTS DUE TO REPLACEMENT OF SPHERICAL JOINT BY REVOLUTE JOINTS IN RSRC MECHANISM