A geometric method for determining joint rotations in spatial mechanisms

Research output: Contribution to journalArticlepeer-review


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.

Original languageEnglish (US)
Pages (from-to)209-218
Number of pages10
JournalProceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics
Issue number4
StatePublished - 2000

All Science Journal Classification (ASJC) codes

  • Condensed Matter Physics
  • Mechanical Engineering


  • Displacements
  • Dual-number methods
  • Kinematics
  • Rotations
  • Spatial mechanisms


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