The paper introduces a procedure for the motion analysis of a four-bar linkage by means of dual algebra and the Principle of Transference. This procedure allows the mapping of the motion from the Euclidean to the spherical dual space. In particular, the position analysis of a spatial four-bar linkage is formulated by referring to a spherical four-bar linkage, which moves on the dual unit sphere. Moreover, both fixed and moving axodes of the coupler link are obtained, as traced by the spatial motion of the instant screw axis (ISA) with respect to the fixed and moving frames. These ruled surfaces reproduce the spatial motion of the coupler link upon relatively rolling and sliding around and along the ISA. Finally, the proposed procedure has been implemented in MatLab, in order to analyze the motion of the different types of four-bar linkages, including the Bennett mechanism and the Hooke joint. The motion is illustrated by means of animations of the four-bar linkages and their axodes.
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