## Abstract

With a pole and two instant centres specified on a unit sphere, a geometrical construction is proposed to determine the spherical centre- and circle-points. The explicit equations of the corresponding spherical centre- and circle-point curves of the PP-PP case are thus obtained by using spherical trigonometry. All break-ups of these spherical centre- and circle-point curves are directly generated from the explicit equations. Through an exhaustive search, it was found that there are four kinds of degenerated curves, i.e. (1) two points and a great circle, (2) two spherical ellipses and a great circle, (3) three orthogonal great circles and (4) a sphere. Two design examples are presented.

Original language | English |
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Pages (from-to) | 749-762 |

Number of pages | 14 |

Journal | Mechanism and Machine Theory |

Volume | 31 |

Issue number | 6 |

DOIs | |

Publication status | Published - 1996 Aug |

## All Science Journal Classification (ASJC) codes

- Bioengineering
- Mechanics of Materials
- Mechanical Engineering
- Computer Science Applications