Algebraic Synthesis of Spatial Chains
In this chapter we consider the design of spatial TS, CC, and RR chains. Our approach is the same as that used to design planar and spherical linkages. For each chain we determine the geometric constraints that characterize the chain, and formulate design equations that are solved for a given set of task positions.
KeywordsDesign Theory Moment Equation Revolute Joint Design Equation Task Position
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