2011 | OriginalPaper | Chapter
Algebraic Synthesis of Spherical Chains
Authors : J. Michael McCarthy, Gim Song Soh
Published in: Geometric Design of Linkages
Publisher: Springer New York
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In this chapter we formulate the design theory for spherical RR chains. The axes of the two revolute joints must lie in the same plane, and therefore intersect in a point. The floating link of this system moves in pure rotation about this point.