Figure 12.1: An inertial frame and a moving frame.
Figure 12.2: A multi-body system.
Figure 12.3: An inertial frame and a moving fame.
Figure 12.4: A multi-body system.
Figure 12.5: Joint Kinematics.
Figure 12.6: A Revolute Joint.
Figure 12.7: A Universal Joint.
Figure 12.9: A multi-body system.
Figure SP12.1a: A Polar Manipulator.
Figure SP12.1c: A Polar Manipulator.
Figure SP12.2a: A 2D Manipulator.
Figure SP12.2c: A 2D Manipulator.
Figure SP12.3a: A 3D Manipulator.
Figure SP12.3c: A 3D Manipulator.
Figure SP12.4: A Polar Manipulator.
Figure SP12.5: A 2D Manipulator.
Figure SP12.6: A 3D Manipulator.
Figure SP12.7: A Polar Manipulator.
Figure SP12.8: A 3D Manipulator.