Kinematic analysis of a universal spatial mechanism containing a higher pair based on tori

An analysis of a mechanism that involves a higher pair in the form of two tori contacting each other superficially at one point is described in this paper. The analysis is conducted using the matrix method. Depending on the dimensions and relative positions of tori, this mechanism has many special cases from the analytical point of view. The presented model may also serve to describe link mechanisms which are kinematically equivalent to a mechanism with a higher pair.