Numerical analysis of displacements in spatial mechanisms with ball joints

Document Type

Article

Publication Date

11-1-2000

Abstract

The ball joint, often referred to as a spherical or `S' joint is modeled using dual-number coordinate-transformation matrices. The joint consists of concave and convex spherical surfaces engaged to prevent translations but allowing three degrees of freedom, all of which are rotations. Derivative-operator matrices to be used in the Fischer-Paul adaptation of the Uicker-Denavit-Hartenberg numerical scheme for displacement analysis of spatial mechanisms are developed. The generalized slider-crank (CSSP) mechanism is presented as an example featuring ball joints where coordinate-transformation matrices modeling links with ball joints are used in a concatenation with analogous matrices modeling links with revolute, prismatic or cylindrical joints to analyze the displacements.

Identifier

0034325336 (Scopus)

Publication Title

Mechanism and Machine Theory

External Full Text Location

https://doi.org/10.1016/S0094-114X(99)00058-0

ISSN

0094114X

First Page

1623

Last Page

1640

Issue

11

Volume

35

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