A geometric method for determining joint rotations in spatial mechanisms

Document Type

Article

Publication Date

1-1-2000

Abstract

An iterative procedure has been developed where the rotational displacements of a spatial mechanism are determined by a geometric method. The technique mimics the way a person would determine the rotations by making a trial assembly of the links of the mechanism and then adjusting the displacements so that links close up to form a loop. The procedure has been found to be practical and can be applied to complicated spatial mechanisms for which the mathematics are overly involved, and is particularly useful for situations when a good initial guess adequate for a successful Newton-Raphson solution is unavailable.

Identifier

0345807499 (Scopus)

Publication Title

Proceedings of the Institution of Mechanical Engineers Part K Journal of Multi Body Dynamics

External Full Text Location

https://doi.org/10.1243/1464419001544214

ISSN

14644193

First Page

209

Last Page

218

Issue

4

Volume

214

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