RESEARCH PAPERS: Mechanisms Papers

On the Intrinsic Properties of Point Trajectories in Three-Dimensional Kinematics

[+] Author and Article Information
L. M. Hsia

Department of Mechanical Engineering, California State University, Los Angeles, California

A. T. Yang

Department of Mechanical Engineering, University of California, Davis, California

J. Mech., Trans., and Automation 107(3), 401-405 (Sep 01, 1985) (5 pages) doi:10.1115/1.3260732 History: Received July 10, 1984; Online November 19, 2009


In this paper we derive analytical expressions for curvature, torsion, and radius of osculating sphere of the point trajectory in three-dimensional kinematics. Corresponding to a design position we obtain equations of loci of points tracing straight lines, helical curves, and spherical curves. It is hoped that the result of this study will provide another step toward rational design of spatial mechanisms and control systems for robot manipulators.

Copyright © 1985 by ASME
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