Abstract: This work seeks to systematically model and solve the equations associated with the kinematics of spherical mechanisms. The group of special unitary matrices, SU(2), is utilized throughout. Elements of SU(2) are employed ...

Abstract: This paper extends the general method to construct a singularity trace for single degreeoffreedom (DOF), closedloop linkages to include prismatic along with revolute joints. The singularity trace has been introduced in the ...