Numerical analysis of displacements in spatial mechanisms with ball joints

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The ball joint, often referred to as a spherical or `S' joint is modeled using dual-number coordinate-transformation matrices. The joint consists of concave and convex spherical surfaces engaged to prevent translations but allowing three degrees of freedom, all of which are rotations. Derivative-operator matrices to be used in the Fischer-Paul adaptation of the Uicker-Denavit-Hartenberg numerical scheme for displacement analysis of spatial mechanisms are developed. The generalized slider-crank (CSSP) mechanism is presented as an example featuring ball joints where coordinate-transformation matrices modeling links with ball joints are used in a concatenation with analogous matrices modeling links with revolute, prismatic or cylindrical joints to analyze the displacements.

Original languageEnglish (US)
Pages (from-to)1623-1640
Number of pages18
JournalMechanism and Machine Theory
Issue number11
StatePublished - Nov 1 2000

All Science Journal Classification (ASJC) codes

  • Bioengineering
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications


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