Single input mechanisms driven by relatively small cranks have been shown to have output link motions which may be approximately described as simple harmonic functions of the input crank angular displacement. This paper presents a mathematical formulation for the approximate analysis and design of two-input, small-crank five-bar mechanisms for function generation. A perturbation technique is employed for the derivation of the approximate equations. Coefficients of the harmonic terms in the output motion equations are obtained from the mechanism geometry and application of the perturbation technique. The output link motions are shown to be approximately described by a linear combination of two simple harmonic functions, in terms of the two input crank angles. The utility of the equations are demonstrated through several mechanism synthesis examples.

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