Axodes for the four-revolute spherical mechanism

R. Sodhi, T. E. Shoup

Research output: Contribution to journalArticlepeer-review

14 Scopus citations


This paper presents the relationships between the axodes and the geometric configuration of the spherical 4R mechanism. The order of the axodes of the spherical 4R mechanism is determined to be 16. The algebraic equations for the axodes of this mechanism are presented in terms of mechanism geometry. It is also shown that the order of the axodes of the simpler forms of the 4R spherical mechanism is lower than 16.

Original languageEnglish (US)
Pages (from-to)173-178
Number of pages6
JournalMechanism and Machine Theory
Issue number3
StatePublished - 1982
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Bioengineering
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications


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