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This paper presents a screw theory approach for the computation of the instantaneous rotation axes of indeterminate spherical linkages. Since the last part of the XIX century, the determination of the instantaneous rotation, or velocity, centers of planar mechanisms has been studied using the Aronhold-Kennedy theorem, extended to the spatial case until the second part of last century. In the beginning of the XX century, it was found that there were planar mechanisms for which the application of the Aronhold-Kennedy theorem was unable to find all the instantaneous rotation centers; these mechanisms where denominated complex or indeterminate. The beginning of this century saw a renewed interest on the complex or indeterminate mechanisms, both planar and spherical; and very soon, taken advantage of the results obtained for planar mechanisms, there were several methods for the determination of the indeterminate instantaneous rotation axes. The new screw theory approach, presented here, provides a more straightforward method for setting up the equations; furthermore, the algebraic equations to be solved are simpler than the ones published up to date. In addition, the method is part of a comprehensive method for the determination of the instantaneous screw axes of spatial mechanisms or their many special cases. The method is based on a systematic application of screw theory, which is isomorphic to the Lie algebra,  se (3), of the Euclidean group,  SE (3), and the invariant symmetric bilinear forms defined on  se (3).

A screw theory approach to compute instantaneous rotation axes of indeterminate spherical linkages