28 Fundamental concepts
a The general line- symmetric case
,
,
;
,
,
;
(2.30)
,
,
.
b The general plane- symmetric case
,
,
;
,
,
;
(2.31)
,
,
.
Figure 2.17 The Bennett plano-spherical hybrid linkage.
Figure 2.18 Wohlhart’s double-Goldberg linkage.