Journal of Manufacturing Science and Engineering, Transactions of the ASME

Kinematic analysis of spatial mechanisms by means of screw coordinates. Part 2—analysis of spatial mechanisms

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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. © 1971 ASME.