RESEARCH PAPERS: Mechanisms and Design Automation Papers

Kinematic Analysis of Spatial Mechanisms Using Train Components

[+] Author and Article Information
M. O. M. Osman, B. M. Bahgat

Department of Mechanical Engineering, Concordia University, Montreal, Canada

R. V. Dukkipati

Division of Mechanical Engineering, National Research Council, Ottawa, Canada

J. Mech. Des 103(4), 823-830 (Oct 01, 1981) (8 pages) doi:10.1115/1.3254993 History: Received September 01, 1979; Online November 17, 2009


A useful method for the kinematic analysis of spatial mechanisms is presented. For the purpose of kinematic analysis, the mechanism is treated as a consist of a number of master train components. For each master train component, geometric constitutive equations for use in kinematic analysis of mechanisms are developed. The kinematic analysis of all train components consisting the mechanism are performed as parts of the master components using a mathematical programming procedure. The analysis is followed in sequence from one train component to another as they form the entire mechanism. Numerical examples are presented to illustrate the proposed technique.

Copyright © 1981 by ASME
Topics: Trains
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