Computer aided geometric design of two-parameter freeform iviotions

This paper brings together the notion of analytically defined two-parameter motion in Theoretical Kinematics and the notion of freeform surfaces in Computer Aided Geometric Design (CAGD) to develop methods for computer aided design of two-parameter freeform motions. In particular, a rational Bezier representation for two-parameter freeform motions is developed. It has been shown that the trajectory surface of such a motion is a tensor-product rational Bezier surface and that such a kinematically generated surface has a geometric as well as a kinematic control structure. The results have not only theoretical interest in CAGD and kinematics but also applications in CAD/CAM and Robotics.