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A solution to the problem of synthesizing an initial three-dimensional kinematic chain with spherical and rotary kinematic pairs is presented. It is shown that this chain can be used as a structural module for structural-kinematic synthesis of three-dimensional four-link motion generating lever mechanisms by the preset positions of the in-and output links. DOI: 10.5901/mjss.2014.v5n23p2627

Synthesis of Four-Link Basic Kinematic Chains [BKC] with Spherical Pairs for Spatial Mechanisms