The finite displacements of the outermost body of a revolute-revolute chain are investigated. All possible screws of the finite twists of the outermost body of an R-R chain are shown to form a screw system of the third order. The analytic expression of the screw system is given. The finite screw systems of special structures of an R-R chain as well as the degenerate forms of the finite 3-system in infinitesimal kinematics and in displacing two points of a body are also discussed.
On the Finite Screw System of the Third Order Associated with a Revolute-Revolute Chain
Department of Mechanical Engineering, National Cheng Kung University, Tainan, Taiwan, R.O.C.
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Huang, C. (September 1, 1994). "On the Finite Screw System of the Third Order Associated with a Revolute-Revolute Chain." ASME. J. Mech. Des. September 1994; 116(3): 875–883. https://doi.org/10.1115/1.2919463
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