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THE GENERAL MATHEMATICAL MODEL OF A FLEXIBLE CONNECTION OF LINKS BY MEANS OF SPRING-DAMPING ELEMENTS IS PRESENTED IN THE PAPER. THE FORMALISM OF HOMOGENEOUS TRANSFORMATION MATRICES IS USED TO DE-RIVE FORMULAS FOR THE ENERGY OF SPRING DEFORMATION AND THE FUNCTION OF THE DISSIPATION OF ENERGY OF THE SPRING-DAMPING ELEMENT. THE PRESENTED FORMULAS HAVE CONVENIENT FORMS TO CONNECT THEM TO THE LAGRANGE EQUATIONS OF THE SECOND ORDER. THE REPLACEMENT MODEL OF THE SPHERICAL JOINT IS PRESENTED AS A PARTICULAR CASE OF THE GENERAL MODEL AND IS USED FOR THE DYNAMICS ANALYSIS OF A ONE-DOF RSRRP LINKAGE MECHANISM. THE NUMERICAL RESULTS OBTAINED HERE USING THE REPLACEMENT MODEL WERE COMPARED WITH THE RESULTS FROM THE CUT-JOINT TECHNIQUE.

Mathematical Description of a Flexible Connection of Links and its Applications in Modeling the Joints of Spatial Linkage Mechanisms