Three-link centroid mechanism as a non-free system of forming points

Designing centroid mechanisms is a complex and insufficiently explored problem, the approaches to solving which need to be understood and streamlined. As a methodological basis for solving this problem, it is proposed to use the principle of displaying a mechanism as a non-free system of form-generating points. This approach allows us to illuminate and solve issues of the structure and kinematics of mechanical systems more compactly than is possible within the frame of the classical theory of machines and mechanisms. In turn, centroid mechanisms represent a good platform for testing and developing methods of "point" modeling of mechanical systems. As a result of the study, a certain clarity was achieved regarding the advantages and disadvantages of various methods of geometric design of three-link centroid mechanisms. In particular, a priority method was chosen for the synthesis of a planetary mechanism with non-circular gears and floating satellites, intended for use in rotary hydraulic and pneumatic machines.
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