1. 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): doi: /
Figure Legend:
Triangles matching two sides and excluded angle (SSA)

2. 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): doi: /
Figure Legend:
Constraint force direction of a R-S-R linkage

3. 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): doi: /
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

4. 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): doi: /
Figure Legend:
Relative motion of a pair of rotating shafts

5. 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): doi: /
Figure Legend:
Articulation of the (R-S-R)∥S coupling under R-S-R linkage hyperextension

6. 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): doi: /
Figure Legend:
Projection of (R-S-R)∥S coupling in the plane of the hyperextended R-S-R linkage

7. 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): doi: /
Figure Legend:
Hyperextended (R-S-R)∥S coupling at minimum shaft-deflection angle

8. 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): doi: /
Figure Legend:
Plane views of the hyperextended (R-S-R)∥S coupling at minimum shaft-deflection angle

9. 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): doi: /
Figure Legend:
Plane views of the (R-S-R)∥S coupling at the constraint-singularity pose