Effects of Deformation on Actuated Joints
This Demonstration shows the state of a three-link mechanism with two single degree-of-freedom joints. Each joint is actuated by a linear actuator across the joint, with insertion points on two links each. The model determines the state of the mechanism based on the geometry of the linkage and the deformation of the actuators.
 M. W. Spong, S. Hutchinson and M. Vidyasagar, Robot Modeling and Control, Hoboken, NJ: John Wiley and Sons, 2006.