Complete notation for dual velocity

Research output: Contribution to conferencePaperpeer-review


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.

Original languageEnglish (US)
Number of pages6
StatePublished - 1990
Event21st Biennial Mechanism Conference - Chicago, IL, USA
Duration: Sep 16 1990Sep 19 1990


Other21st Biennial Mechanism Conference
CityChicago, IL, USA

All Science Journal Classification (ASJC) codes

  • General Engineering

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