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Figure 6.1: Joint Axis Vectors Translated to Intersect at a Point
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Figure 6.2: Spherical Link α 12 Placed Between S 1 and S 2
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Figure 6.3: Spatial Closed Loop Mechanism and Equivalent Spherical Mechanism
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Figure 6.4: Positioning of a Spherical Link
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input angleoutput angle frame Figure 6.5: Planar Representation of RCCC Spatial Mechanism
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Figure 6.6: Planar Representation of Two 3R-2C Kinematic Chains
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Figure 6.7: Spherical Dyad
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Figure 6.8: Spherical Triangle
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Figure 6.9: Three Spherical Links
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Figure 6.10: Two Assemblies of the Spherical Triangle
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Figure 6.11: Link Vectors Intersect Unit Sphere
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Figure 6.12: Polar Triangle
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Figure 6.13: Spherical Quadrilateral
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Figure 6.14: Definition of Angle γ
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Figure 6.15: Solution Tree
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Figure 6.16: Two Solutions of a Spherical Quadrilateral (θ 4 Input Angle)
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Figure 6.17: Spherical Pentagon
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Figure 6.18: Two Solutions of a Spherical Pentagon (θ 5 and θ 3 Input Angles)
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Figure 6.19: Spherical Hexagon
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Figure 6.20: Spherical Heptagon
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Figure 6.21: Two Solutions of a Spherical Heptagon (θ 7, θ 6, θ 4, θ 2 Input Angles)
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