Figure 6.1: Joint Axis Vectors Translated to Intersect at a Point

Figure 6.2: Spherical Link α 12 Placed Between S 1 and S 2

Figure 6.3: Spatial Closed Loop Mechanism and Equivalent Spherical Mechanism

Figure 6.4: Positioning of a Spherical Link

input angleoutput angle frame Figure 6.5: Planar Representation of RCCC Spatial Mechanism

Figure 6.6: Planar Representation of Two 3R-2C Kinematic Chains

Figure 6.7: Spherical Dyad

Figure 6.8: Spherical Triangle

Figure 6.9: Three Spherical Links

Figure 6.10: Two Assemblies of the Spherical Triangle

Figure 6.11: Link Vectors Intersect Unit Sphere

Figure 6.12: Polar Triangle

Figure 6.13: Spherical Quadrilateral

Figure 6.14: Definition of Angle γ

Figure 6.15: Solution Tree

Figure 6.16: Two Solutions of a Spherical Quadrilateral (θ 4 Input Angle)

Figure 6.17: Spherical Pentagon

Figure 6.18: Two Solutions of a Spherical Pentagon (θ 5 and θ 3 Input Angles)

Figure 6.19: Spherical Hexagon

Figure 6.20: Spherical Heptagon

Figure 6.21: Two Solutions of a Spherical Heptagon (θ 7, θ 6, θ 4, θ 2 Input Angles)