Date of download: 12/17/2017 Copyright © ASME. All rights reserved. From: Triangle Pseudocongruence in Constraint Singularity of Constant-Velocity Couplings J. Mechanisms Robotics. 2009;1(2):021006-021006-8. doi:10.1115/1.3046142 Figure Legend: Triangles matching two sides and excluded angle (SSA)

Date of download: 12/17/2017 Copyright © ASME. All rights reserved. From: Triangle Pseudocongruence in Constraint Singularity of Constant-Velocity Couplings J. Mechanisms Robotics. 2009;1(2):021006-021006-8. doi:10.1115/1.3046142 Figure Legend: Constraint force direction of a R-S-R linkage

Date of download: 12/17/2017 Copyright © ASME. All rights reserved. From: Triangle Pseudocongruence in Constraint Singularity of Constant-Velocity Couplings J. Mechanisms Robotics. 2009;1(2):021006-021006-8. doi:10.1115/1.3046142 Figure Legend: Projection of constraint force vectors into the central symmetry plane for two positions of a R-S-R linkage relative to the center of the coupling

Date of download: 12/17/2017 Copyright © ASME. All rights reserved. From: Triangle Pseudocongruence in Constraint Singularity of Constant-Velocity Couplings J. Mechanisms Robotics. 2009;1(2):021006-021006-8. doi:10.1115/1.3046142 Figure Legend: Relative motion of a pair of rotating shafts

Date of download: 12/17/2017 Copyright © ASME. All rights reserved. From: Triangle Pseudocongruence in Constraint Singularity of Constant-Velocity Couplings J. Mechanisms Robotics. 2009;1(2):021006-021006-8. doi:10.1115/1.3046142 Figure Legend: Articulation of the (R-S-R)∥S coupling under R-S-R linkage hyperextension

Date of download: 12/17/2017 Copyright © ASME. All rights reserved. From: Triangle Pseudocongruence in Constraint Singularity of Constant-Velocity Couplings J. Mechanisms Robotics. 2009;1(2):021006-021006-8. doi:10.1115/1.3046142 Figure Legend: Projection of (R-S-R)∥S coupling in the plane of the hyperextended R-S-R linkage

Date of download: 12/17/2017 Copyright © ASME. All rights reserved. From: Triangle Pseudocongruence in Constraint Singularity of Constant-Velocity Couplings J. Mechanisms Robotics. 2009;1(2):021006-021006-8. doi:10.1115/1.3046142 Figure Legend: Hyperextended (R-S-R)∥S coupling at minimum shaft-deflection angle

Date of download: 12/17/2017 Copyright © ASME. All rights reserved. From: Triangle Pseudocongruence in Constraint Singularity of Constant-Velocity Couplings J. Mechanisms Robotics. 2009;1(2):021006-021006-8. doi:10.1115/1.3046142 Figure Legend: Plane views of the hyperextended (R-S-R)∥S coupling at minimum shaft-deflection angle

Date of download: 12/17/2017 Copyright © ASME. All rights reserved. From: Triangle Pseudocongruence in Constraint Singularity of Constant-Velocity Couplings J. Mechanisms Robotics. 2009;1(2):021006-021006-8. doi:10.1115/1.3046142 Figure Legend: Plane views of the (R-S-R)∥S coupling at the constraint-singularity pose