Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 13, issue 1
Articles | Volume 13, issue 1
https://doi.org/10.5194/ms-13-275-2022
© Author(s) 2022. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-13-275-2022
© Author(s) 2022. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 13, issue 1
Research article
 | 
18 Mar 2022
Research article |  | 18 Mar 2022

Motion generation of a planar 3R serial chain based on conformal geometric algebra with applications to planar linkages

Lei Wang, Gaohong Yu, Liang Sun, Yuzhu Zhou, and Chuanyu Wu

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Latest update: 13 Jun 2026
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Short summary
Many linkage mechanisms can be broken into components consisting of planar two-revolute (2R) and three-revolute (3R) serial chains, such as the five-, six-, and eight-bar mechanisms. In this study, a new method for the dimensional synthesis of the planar 3R serial chain for motion generation based on CGA is presented. The proposed method provides a new meaning for the motion synthesis of planar serial chains and can be applied to many other types of planar mechanisms.
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