An update on M- and K-circle theory for planar dyads and triads

John R. Mlinar, Arthur G Erdman

Research output: Contribution to journalArticlepeer-review


M and K circles are solution loci for three design positions of a dyad when one design angle is varied. This paper updates M- and K-circle theory through a geometric explanation of why regions without solutions, known as forbidden regions, exist for the case of path generation with prescribed timing and not for the case of motion generation. The extension of M-K circle theory to the linear solution of triads is also presented. This work presents the finding of circular solution curves for the linear solution of triads along with the conditions for forbidden regions.

Original languageEnglish (US)
Pages (from-to)464-468
Number of pages5
JournalJournal of Mechanical Design, Transactions of the ASME
Issue number3
StatePublished - May 1 2005

Cite this