This paper applies Euclidean invariants from differential geometry to kinematic properties of the ruled surfaces generated by the coupler link and the constraint-screw axes. Starting from investigating the assembly configuration, the work reveals two cycle phases of the coupler link when the input link finishes a full rotation. This leads to analysis of the motion ruled surface generated by the directrix along the coupler link, where Euclidean invariants are obtained and singularities are identified. This work further presents the constraint ruled surface that is generated by the constraint screw axes and unveils its intrinsic characteristics.
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