Transmission angle in compliant four-bar mechanisms

Transmission angle is an important parameter in defining quality of motion and force transmission of a mechanism. However, there is only one study available in the literature which is the transmission angle of a compliant slider-crank mechanism (Tanık, 2011, volume 46, Issue 11). The compliant mechanisms can be modelled with rigid link and springs. Addition of springs makes the problem very difficult. In this thesis, the transmission angle formula suitable for fully compliant and (all types) partially compliant four-bar mechanisms is determined. Special cases are discussed and four theorems are introduced. Similarities and dissimilarities between compliant four-bar and its rigid body counterpart are introduced. We believe that, the transmission angle formula and the devised theorems will be useful for the compliant mechanism designers and researchers.