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Open Access Publications from the University of California

Second Order Task Specifications in the Geometric Design of Spatial Mechanical Linkages

  • Author(s): Robson, NP
  • McCarthy, JM
  • et al.

This paper builds on the authors‘ planar kinematic synthesis for contact task specifications and formulates the kinematic specification of the synthesis problem for spatial open-serial chains in which a desired acceleration of the end-effector is specified

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