This paper presents a new technique for determining the fixed axis for a spatial CC chain that guides a rigid body through five finitely separated positions, termed a Burmester Line. It is known that there can be as many as six Burmester lines for a given set of five spatial positions. Here we show that these six lines can be obtained from the analysis of a 3-CPC platform, constructed from relative screw axes associated with the five specified displacements. The screw axes of the displacement of this platform to each of its assemblies are the desired Burmester lines. Roth’s original example is presented to verify the calculations.

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