To study the relative movement at each joint of a spatial linkage,1 we for spatial linkages. Hartenberg, R.S., Denavit, J.: Kinematic Synthesis of Linkages. HARTENBERG AND DENAVIT, Kinematic Synthesis of Linkages. HARTMAN, Dynamics of Machinery. HINZE, Turbulence. JACOBSEN AND AYRE, Engineering. Kinematic Synthesis of Linkages” By. Hartenberg and Denavit, McGraw Hill. 5.” Kinematic Analysis and Synthesis of Mechanisms” By Mallik, Ghosh,. Dittrich.

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Kinematic Models for Design (KMODDL) References

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Kinematic Synthesis of Linkages (Mechanical Engineering)

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Kinematic Synthesis of Linkages by R.S. Hartenberg

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