A Generalized Parameterization of T1 Motion and its Application to the Synthesis of Planar Mechanisms

Master's Thesis


Prior development of T1 motion theory has used a second-order parameterization which maximally simplifies the theory and allows for a description of the kinematic geometry. In the T1 motion theory presented here, this parameterization is generalized and not limited to the second-order. The results of this generalized parameterization are more algebraically complex; however, a purely algebraic application of the theory to the motion synthesis problem is made possible without an a-priori recognition of the kinematic geometry. Examples of the synthesis of a four-bar mechanism for rigid-body guidance and a four-bar mechanism for function generation, are presented.


Attribute NameValues
  • etd-04142004-081722

Author Craig Matthew Goehler
Advisor Michael M. Stanisic
Contributor Michael M. Stanisic, Committee Chair
Contributor Bill Goodwine, Committee Member
Contributor Robert Howland, Committee Member
Degree Level Master's Thesis
Degree Discipline Aerospace and Mechanical Engineering
Degree Name MS
Defense Date
  • 2004-04-08

Submission Date 2004-04-14
  • United States of America

  • curvature theory

  • advanced kinematics

  • T1 motion

  • instantaneous invariants

  • University of Notre Dame

  • English

Record Visibility Public
Content License
  • All rights reserved

Departments and Units


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