Rotating – rotating – spherical - spherical (RRSS) mechanism in cam and groove coupling

　　Rotating – rotating – spherical - spherical (RRSS) mechanism is one of the most basic four mechanisms, can also provide spatial cam and groove coupling motion control. Different rotating – rotating – cylindrical, cylindrical (or RRCC) mechanism and Bennett, the agency has not kinematic constraints strictly. Rotating – spherical - spherical - different rotation (RSSR) mechanism of passive coupling degree of freedom, the body is completely constrained.

　　And spatial mechanism with cylindrical joints, simple - the mechanism design includes only rotation and ball joint. Because of the rigid body motion in the exhibition space is one of the most basic spatial four bar mechanism in cam and groove coupling, the mechanism is the focus of this study.

　　Any instant in motion process, cam and groove coupling of RRSS mechanism is through a rotating and / or along a ISA translation. The position and direction of change and the position of the ISA mechanism. Figure 2 shows the RRSS mechanism and ISA parameters of U (ISA unit vector), φ (rotation about U) and S (translation along the U)

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