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The screw axis geometry associated with displacements of points and lines is studied. Analytical expressions are developed for rigid body screw displacements which have one or more free parameters. It is shown how to apply these results to the synthesis of spatial linkages. The theory is illustrated by numerical examples in which Cylindric-Cylindric cranks are designed to guide two points in a rigid body through five and then nine specified positions.
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Tsai et al. (1973) studied this question.
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