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Article | REF: B5810 V1

Cardan joints

Author: Pierre GUIMBRETIÈRE

Publication date: January 10, 1997

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2. Kinematic study

2.1 Rotation

Let us call θ 1 and θ 2 the angles of rotation, respectively of S 1 and S 2 .

The kinematic diagram of the situation described above is shown in figure 1 b. After expressing the components of the unitary

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