Computational Efficient Mechanisms

In this work, mechanisms that admit efficient kinematic computation are studied. The computational efficient mechanisms are a special class of linkages that their constraint equations contain lower-order terms than the ordinary linkages. The lower-order constraint equations are of lower complexity of computation and thus readily solved. In the paper, we examine the existence of such kinds of linkages. Examples of computational mechanisms are provided for the five-bar spherical linkage and the 3-RRR spherical parallel mechanism.