RESEARCH PAPERS: Mechanisms Papers

Kinematic Analysis of Spatial Mechanisms by Means of Screw Coordinates. Part 2—Analysis of Spatial Mechanisms

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

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

F. Freudenstein

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

L. S. Woo

IBM New York Scientific Center, New York, N. Y.

J. Eng. Ind 93(1), 67-73 (Feb 01, 1971) (7 pages) doi:10.1115/1.3427919 History: Received July 07, 1970; Online July 15, 2010


The basic concepts of screw coordinates described in Part I are applied to the numerical kinematic analysis of spatial mechanisms. The techniques are illustrated with reference to the displacement, velocity, and static-force-and-torque analysis of a general, single-degree-of-freedom spatial mechanism: a seven-link mechanism with screw pairs (H)7 . By specialization the associated computer program is capable of analyzing many other single-loop spatial mechanisms. Numerical examples illustrate the results.

Copyright © 1971 by ASME
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