Kinematic geometry of mechanisms

The components of mechanism freedom and structure in mechanism elementary planar and spatial displacements planar algebraic curves infinitesimal planar kinematics planar displacements through three and more locations the four-bar linkage - coupler curves the geometrical capability of planar mechanisms three-dimensional geometry and spatial mechanism some spatial mechanisms line geometry and spatial mechanism screw systems screw systems applied to spatial mechanisms body guidance in three dimensions manipulator-arms and other linkage-connections.