A Complete Notation for Dual Velocity

[+] Author and Article Information
I. S. Fischer

Department of Mechanical and Industrial Engineering, New Jersey Institute of Technology, Newark, NJ 07102

J. Mech. Des 114(2), 263-268 (Jun 01, 1992) (6 pages) doi:10.1115/1.2916941 History: Received March 01, 1990; Online June 02, 2008


A notation is developed which specifies a dual velocity without ambiguity. The point of interest, the moving body, the reference body, and the system of unit vectors in which a dual velocity is expressed are all clearly indicated. The equivalence between the equation of transformation and the coordinate-transformation matrix formulation is shown. Equations are developed to enable calculation of the dual velocity at a point in a body given the dual velocity at any other point, to change the system of unit vectors in which a dual velocity is expressed, and to calculate relative velocities. Use of these equations is demonstrated in an example using the spatial four-bar mechanism which is specialized to the Cardan joint and the wobble-plate mechanism, and the effect of some tolerance errors on output velocity is shown.

Copyright © 1992 by The American Society of Mechanical Engineers
Topics: Velocity
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