... Figure 3 .2 is given byA = 011 1 10 10 11 01 1 010 . (3 .2) The matrix representation given by Equation (3 .2) provides no distinction for thetypes of joint used in a mechanism. The (2, ... outlined below.joint jB =b 1, 1b 1 ,2 ··· b 1, mb 2, 1 b 2, 2··· b 2, m............bn ,1 bn ,2 ··· bn,mlink iwherebij= 1 if link i contains joint j ,0 otherwise ... Automation in Design, 10 9, 3, 329 –336.[ 12 ] Tsai, L.W., 19 88, The Kinematics of Spatial Robotic Bevel-Gear Trains, IEEEJournal of Robotics and Automation, 4, 2, 15 0 15 6.© 20 01 by CRC Press LLC3.5...