RESEARCH PAPERS: Design Automation Papers

A Computer Method for the Finite Displacement Problem in Spatial Mechanisms

[+] Author and Article Information
J. A. Tárrago, M. A. Serna

Escuela Superior de Ingenieros Industriales de Bilbao, Bilbao, Spain

C. Bastero

Escuela Superior de Ingenieros Industriales de Madrid, Madrid, Spain

J. García de Jalón

Escuela Superior de Ingenieros Industriales de San Sebastian, San Sebastian, Spain

J. Mech. Des 104(4), 869-874 (Oct 01, 1982) (6 pages) doi:10.1115/1.3256450 History: Received October 28, 1981; Online November 17, 2009


In this paper, a new method for the numerical solution of the finite displacement problem in spatial mechanisms with revolute (R), cylindrical (C), spherical (S), and prismatic (P) pairs is presented. It is based on the use of special points’ coordinates as Lagrangian coordinates of the mechanism. The kinematic constraint equations are imposed as constant distances, areas, and volumes of segments, triangles, and tetrahedrons determined by those points. The system of nonlinear equations is solved via the Gauss-Newton variation of the Least Squares Method. Finally, three examples are presented in which the good convergence properties of the method can be seen.

Copyright © 1982 by ASME
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