The Kinematics of Motion Through Finitely Separated Positions

[+] Author and Article Information
Bernard Roth

Mechanical Engineering, Stanford University, Stanford, Calif.

J. Appl. Mech 34(3), 591-598 (Sep 01, 1967) (8 pages) doi:10.1115/1.3607748 History: Received November 12, 1965; Revised September 26, 1966; Online September 14, 2011


A rigid body is studied in a series of finitely separated positions, in order to determine those points which lie on a special locus (a sphere, circle, plane, line, or cylinder). Equations governing these special points are derived and their numerical evaluation is discussed. Several numerical examples are presented. In a companion paper [21], these results are applied to the synthesis of spatial linkages, and special motions (e.g., planer and spherical) are incorporated into the general theory presented herein.

Copyright © 1967 by ASME
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