6. Conclusion

After reviewing the kinematically possible systems for realizing a passive mechanical amplifier, a critique is made using the concepts defined in the article [AF 1 673] . The central question in choosing a type of mechanism is based on the establishment of criteria: existence of a dead center, closure of the kinematic chain, possibility of adjusting backlash, power dissipated by internal linkage actions, power dissipated by external linkage actions. A key point is the design of the joints. It is examined in a very concrete way, with a detailed study of the new forms of rotoid linkage (pseudo-rotoid...