Mechanisms

Slider-cranks, four-bar linkages and their velocities and accelerations, and serial robot arms.

Reuleaux’s kinematics of machinery: the slider-crank (1875)

Reuleaux's kinematics of machinery: the slider-crank (1875)

Grashof’s condition for four-bar linkages (1883)

Grashof's condition for four-bar linkages (1883)

Freudenstein’s equation for four-bar synthesis (1954)

Freudenstein's equation for four-bar synthesis (1954)

Denavit and Hartenberg’s link parameters (1955)

Denavit and Hartenberg's link parameters (1955)

Aronhold and Kennedy’s theorem of three centres (1872-1886)

Aronhold and Kennedy's theorem of three centres (1872-1886)