Aiming at the position analysis of Stephenson III spherical six bar mechanism, a simple method to solve its input-output equation is given. The Stephenson III spherical six bar mechanism is regarded as composed of basic spherical four-bar chain and spherical two-bar group. The basic coordinate system and branch coordinate system are established respectively. The coordinates of each hinge point are solved with the help of geometric principle and displacement rotation theory. Based on the motion constraints of the basic spherical four-bar chain and the coupling constraints with the spherical two-bar group, the constraint equations of the spherical six bar mechanism are established by using spherical trigonometry. The constraint equations are simplified and eliminated by Sylvester’s resultant elimination method and triangular transformation formula, and then the constraint equations of the mechanism are obtained.
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