Abstract
This paper presents an analytic treatment to investigate the Burmester curves of the PPP-P case. Provided that an instant center associated with an inflection point and rotation angle of a coupler about a pole are specified, the explicit equations of Burmester curves for the PPP-P case are directly derived without any differential process. Because the explicit equations derived are of quadratic form, their geometric properties can be easily investigated. Six degenerated cases and three special cases of the Burmester curves for the PPP-P case are obtained. A design example is presented.
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