RESEARCH PAPERS: Mechanisms Papers

Higher-Order Path Curvature in Spherical Kinematics

[+] Author and Article Information
A. T. Yang

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

B. Roth

Department of Mechanical Engineering, Stanford University, Stanford, Calif.

J. Eng. Ind 95(2), 612-616 (May 01, 1973) (5 pages) doi:10.1115/1.3438198 History: Received June 29, 1972; Online July 15, 2010


Characteristic numbers are derived which define a spherical curve, within a stretch rotation, to a given order. The loci of all points, which have the same characteristic numbers, under rigid body spherical motion are studied. These results are useful for synthesis and analysis of spherical linkages. The theory is illustrated by numerical examples for the motion of rolling cones and a spherical turning-block linkage.

Copyright © 1973 by ASME
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