RESEARCH PAPERS: Mechanisms Papers

Kinematic Analysis of Spatial Mechanisms by Means of Screw Coordinates. Part 1—Screw Coordinates

[+] Author and Article Information
M. S. C. Yuan

The Singer Company, Industrial Products Division, Elizabeth, N. J.

F. Freudenstein

Department of Mechanical Engineering, Columbia University, New York, N. Y.

J. Eng. Ind 93(1), 61-66 (Feb 01, 1971) (6 pages) doi:10.1115/1.3427918 History: Received July 07, 1970; Online July 15, 2010


The concept of screw coordinates is developed in terms of motor algebra, and applied to the kinematics and statics of rigid bodies, in particular to the computer-aided motion analysis of spatial mechanisms. The laws of the composition and transformation of screw coordinates and their application to the kinematics and statics of rigid bodies are developed. These results form the basis for the development of numerical methods for the kinematic analysis of spatial mechanisms.

Copyright © 1971 by ASME
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