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Volume 5: 27th Biennial Mechanisms and Robotics Conference
A spatial linkage is defined by a workpiece supported by several serial chains. The task of the linkage is defined by specifying rigid positions for the workpiece that approximate a desired workspace. Spatial serial chains can be synthesized and combined to form more complicated linkages. Because there are many serial chains available for this design process, we have developed a Java-based architecture for a computer-aided-design system for spatial linkages that is organized to allowdoi:10.1115/detc2002/mech-34371 fatcat:gd7cedamsffztcro3b7fnpkla4