A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices

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Abstract
A symbolic notation devised by Reuleaux to describe mechanisms did not recognize the necessary number of variables needed for complete description. A reconsideration of the problem leads to a symbolic notation which permits the complete description of the kinematic properties of all lower-pair mechanisms by means of equations. The symbolic notation also yields a method for studying lower-pair mechanisms by means of matrix algebra; two examples of application to space mechanisms are given.

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