Static analysis of mechanisms with ball joints

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Equations of static equilibrium are developed for the ball joint, which is a complex joint in that the coordinates in which its displacements are naturally expressed are stated in different coordinate frames. The implications of this are examined, and the generalized slider-crank mechanism (RSSP mechanism) is given as an example.

Original languageEnglish (US)
Pages (from-to)129-149
Number of pages21
JournalMechanics Based Design of Structures and Machines
Issue number2
StatePublished - Apr 2008

All Science Journal Classification (ASJC) codes

  • Civil and Structural Engineering
  • General Mathematics
  • Automotive Engineering
  • Aerospace Engineering
  • Condensed Matter Physics
  • Ocean Engineering
  • Mechanics of Materials
  • Mechanical Engineering


  • Ball joint
  • Dual number
  • Generalized slider-crank mechanism
  • RSSP
  • Static analysis
  • Static equilibrium


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