Characteristic numbers are derived which define a spherical curve, within a stretch rotation, to a given order. The loci of all points, which have the same characteristic numbers, under rigid body spherical motion are studied. These results are useful for synthesis and analysis of spherical linkages. The theory is illustrated by numerical examples for the motion of rolling cones and a spherical turning-block linkage.
Higher-Order Path Curvature in Spherical Kinematics
A. T. Yang,
A. T. Yang
Department of Mechanical Engineering, University of California, Davis, Calif.
Department of Mechanical Engineering, Stanford University, Stanford, Calif.
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Yang, A. T., and Roth, B. (May 1, 1973). "Higher-Order Path Curvature in Spherical Kinematics." ASME. J. Eng. Ind. May 1973; 95(2): 612–616. https://doi.org/10.1115/1.3438198
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