Date of Award

Spring 5-31-1989

Document Type


Degree Name

Doctor of Engineering Science in Mechanical Engineering


Mechanical and Industrial Engineering

First Advisor

R. S. Sodhi

Second Advisor

Harry Herman

Third Advisor

M. C. Leu

Fourth Advisor

Ian Sanford Fischer

Fifth Advisor

Youngjin Park


The rigid body motion is studied in a combination of finitely and infinitesimally separated positions in planar, spherical, and spatial kinematics. A general new method for determining the locations of points and/or lines in a rigid body moving through finitely and infinitesimally separated positions is developed. These points and/or lines would satisfy the constraints of various types of binary links for planar, spherical, and spatial mechanisms.

A unified form of circle-point curve equation is derived for finitely and multiply separated position problems in planar and spherical motions. A graphical method to construct the circle-point and center-point curves and Ball point is also investigated for the PP-PP multiply separated positions problem in planar motion. Instantaneous geometric motion of a rigid body is studied in terms of the instantaneous screw axis for the infinitesimally separated positions in spatial kinematics. Also the finite spatial motion problem is recast in terms of determining the screw parameters directly.