Algebraic Synthesis of Spatial Chains

Part of the Interdisciplinary Applied Mathematics book series (IAM, volume 11)


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.


Design Theory Moment Equation Revolute Joint Design Equation Task Position 
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Copyright information

© Springer New York 2011

Authors and Affiliations

  1. 1.Department of Mechanical and Aerospace EngineeringUniversity of California, IrvineIrvineUSA
  2. 2.Singapore Institute of Manufacturing TechnologySingaporeSingapore

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