Waldron, KJ 1972, 'A method of studying joint geometry', Mechanism and Machine Theory, vol. 7, no. 3, pp. 347-353.
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A method of relating the geometry of contacting surfaces to motion capability in the joints of spatial linkages is presented. Ball's screw system and reciprocal screw system are used to provide this relationship which is then converted into algebraic form. A differential equation which must be satisfied by the surface at points of contact is derived and used to prove several theorems relating to contact geometry. © 1972.