The design of spherical 4R linkages for four specified orientations

@inproceedings{Ruth1999TheDO,
  title={The design of spherical 4R linkages for four specified orientations},
  author={Derek Ruth and Joseph M. Mccarthy},
  year={1999}
}
This chapter describes a computer-aided design software system for spherical four-bar linkages that is based on Burmester’s planar theory. The designer identifies a task in the form of four goal orientations for the floating link and the software generates an array of available linkages known as the Type Map. The equation of a spherical triangle provides a direct connection to the graphical techniques of Burmester. This paper further develops the linkage type characterization required for an… CONTINUE READING

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