Title Page -- Copyright -- Table of Contents -- Preface -- Acknowledgments -- Chapter 1: Planar Kinematic Differential Geometry -- 1.1 Plane Curves -- 1.2 Planar Differential Kinematics -- 1.3 Plane Coupler Curves -- 1.4 Discussion -- References -- Chapter 2: Discrete Kinematic Geometry and Saddle Synthesis of Planar Linkages -- 2.1 Matrix Representation -- 2.2 Saddle Point Programming -- 2.3 Saddle Circle Point -- 2.4 Saddle Sliding Point -- 2.5 The Saddle Kinematic Synthesis of Planar Four-bar Linkages -- 2.6 The Saddle Kinematic Synthesis of Planar Six-bar Linkages with Dwell Function -- 2.7 Discussion -- References -- Chapter 3: Differential Geometry of the Constraint Curves and Surfaces -- 3.1 Space Curves -- 3.2 Surfaces -- 3.3 Constraint Curves and Surfaces -- 3.4 Spherical and Cylindrical Curves -- 3.5 Constraint Ruled Surfaces -- 3.6 Generalized Curvature of Curves -- 3.7 Generalized Curvature of Ruled Surfaces -- 3.8 Discussion -- References -- Chapter 4: Spherical Kinematic Differential Geometry -- 4.1 Spherical Displacement -- 4.2 Spherical Differential Kinematics -- 4.3 Spherical Coupler Curves -- 4.4 Discussion -- References -- Chapter 5: Discrete Kinematic Geometry and Saddle Synthesis of Spherical Linkages -- 5.1 Matrix Representation -- 5.2 Saddle Spherical Circle Point -- 5.3 The Saddle Kinematic Synthesis of Spherical Four-bar Linkages -- 5.4 Discussion -- References -- Chapter 6: Spatial Kinematic Differential Geometry -- 6.1 Displacement Equation -- 6.2 Axodes -- 6.3 Differential Kinematics of Points -- 6.4 Differential Kinematics of Lines -- 6.5 Differential Kinematics of Spatial Four-Bar Linkage RCCC -- 6.6 Discussion -- References -- Chapter 7: Discrete Kinematic Geometry and Saddle Synthesis of Spatial Linkages -- 7.1 The Displacement Matrix -- 7.2 Saddle Sphere Point PSS -- 7.3 Saddle Cylinder Point PCS.

7.4 Saddle Constant Axis Line LCC -- 7.5 Degenerate Constant Axis Lines LRC and LHC -- 7.6 The Saddle Kinematic Synthesis of Spatial Four-Bar Linkages -- 7.7 Discussion -- References -- Appendix A Displacement Solutions of Spatial Linkages RCCC -- Reference -- Appendix B Displacement Solutions of the Spatial RRSS Linkage -- Reference -- Index -- End User License Agreement.