Abstract
In this chapter we examine the design of RR, PR and RP planar open chains that reach a specified set of task positions. A constraint equation is defined for each chain that characterizes the set of positions that it can reach. This relationship is inverted by considering the positions as known and the fixed and moving pivots of the chain as unknowns. The result is a set of design equations that are solved to design the chain.
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APA
McCarthy, J. M., & Soh, G. S. (2011). Algebraic Synthesis of Planar Chains. In Interdisciplinary Applied Mathematics (Vol. 11, pp. 93–123). Springer Nature. https://doi.org/10.1007/978-1-4419-7892-9_5
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