On the investigation of extreme in linkage analysis, using screw system algebra

Abstract Screw system theory has previously been used to determine the linkage configurations for which motion about or along a joint instantaneously ceases. In this paper, the theory is further developed and applied in two new ways. We first present an alternative formulation for the analysis of stationary positions for linkage pairs, which also allows us to specify the locations and pitches of the reciprocal screws of the loop's ESS at a limit position. We then show how to determine the chain configurations for which the absolute motion of an arbitrarily selected point of a linkage instantaneously ceases.