A Unified Theory for Finite, Infinitesimal, and Hybrid Kinematic Synthesis

[+] Author and Article Information
P. A. James, B. Roth

Mechanical Engineering Department, Stanford University, Stanford, CA 94305

J. Mech. Des 115(3), 552-559 (Sep 01, 1993) (8 pages) doi:10.1115/1.2919225 History: Received March 01, 1990; Online June 02, 2008


In this paper we derive an analytic method for obtaining infinitesimal kinematic synthesis results as a limiting process from finitely separated position kinematics. New relationships are introduced and a new numerical method is presented. Within the scope of linear, analytic theories, the loci associated with infinitesimal position theory and the loci associated with hybrid finite-infinitesimal position theory are shown to always be limiting cases of the corresponding finite theory. These new methods serve to unify finite, infinitesimal, and hybrid kinematic synthesis theories.

Copyright © 1993 by The American Society of Mechanical Engineers
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