1. Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Projective Constraint Stabilization for a Power Series Forward Dynamics Solver J. Dyn. Sys., Meas., Control. 2013;135(3):031004-031004-9. doi:10.1115/1.4023212 Clemens CV coupling at initial posture: direction vectors ω1,…,ω9 are placed along the joint axis lines Figure Legend:

2. Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Projective Constraint Stabilization for a Power Series Forward Dynamics Solver J. Dyn. Sys., Meas., Control. 2013;135(3):031004-031004-9. doi:10.1115/1.4023212 Planar projection of the screw motion of a point following an arc of radius R and angle θ Figure Legend:

3. Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Projective Constraint Stabilization for a Power Series Forward Dynamics Solver J. Dyn. Sys., Meas., Control. 2013;135(3):031004-031004-9. doi:10.1115/1.4023212 Dynamic response of Clemens CV coupling input shaft rotation angle Figure Legend:

4. Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Projective Constraint Stabilization for a Power Series Forward Dynamics Solver J. Dyn. Sys., Meas., Control. 2013;135(3):031004-031004-9. doi:10.1115/1.4023212 Dynamic response of Clemens CV coupling output shaft pitch and yaw deflection angles Figure Legend:

5. Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Projective Constraint Stabilization for a Power Series Forward Dynamics Solver J. Dyn. Sys., Meas., Control. 2013;135(3):031004-031004-9. doi:10.1115/1.4023212 Projective correction to the order 2 solution of the input shaft rotation angle Figure Legend:

6. Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Projective Constraint Stabilization for a Power Series Forward Dynamics Solver J. Dyn. Sys., Meas., Control. 2013;135(3):031004-031004-9. doi:10.1115/1.4023212 Projective correction to the order 2 solution of the input shaft rotation rate Figure Legend:

7. Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Projective Constraint Stabilization for a Power Series Forward Dynamics Solver J. Dyn. Sys., Meas., Control. 2013;135(3):031004-031004-9. doi:10.1115/1.4023212 Projective correction to the order 4 solution of the input shaft rotation rate Figure Legend:

8. Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Projective Constraint Stabilization for a Power Series Forward Dynamics Solver J. Dyn. Sys., Meas., Control. 2013;135(3):031004-031004-9. doi:10.1115/1.4023212 Relative computation times for the order 8 forward-dynamics solution Figure Legend: