Geometry of a mechanism with a higher pair in the form of two elliptical tori

This paper presents one of the problems of kinematic analysis of one degree of freedom single-loop spatial mechanism. The problem lies in geometric modeling of mechanisms in such a manner that a model may cover as many structures which include the most common kinematic connection of links as possible. As a result of this approach, a model of a three-link mechanism with a higher kinematic pair consisting of two elliptical tori was obtained. Particular cases of this model are kinematic structures which, after meeting some conditions, become models of mechanisms with revolute, prismatic, cylindrical, spherical pairs or universal joint. In this way, a model of such a mechanism was created where detailed mechanisms are obtained through a change of parameter values.