New method for input-output equation of spherical four-bar mechanism

A new method for the input-output equation of spherical four-bar mechanism is given in this paper. Firstly D-H method is used to construct the closed-form equation and unitary matrices are introduced to the close-form equation to find the input-output equation, which only contain the variables of input angle and output angle. Thus the left variables can be solved after the input angle and output angle are substituted to the close-form equation. A numerical example and simulation software are given to verify the correctness of the method.