Publications

Waldron, KJ 1966, 'The constraint analysis of mechanisms', Journal of Mechanisms, vol. 1, no. 2, pp. 101-114.
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A general method for the determination of the mobility of any rigid body mechanism is derived using Ball's theory of the instantaneous screw axis. The classical mobility equations are related to this method and their limitations are elucidated. A relationship between the reciprocal screw systems of the joints of a mechanism and the number of accurate operations required in the manufacture of a machine based on that mechanism is described. © 1966.