Static equilibrium of spatial mechanisms with cylindrical joints

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The components of force and torque acting on a joint of a link in static equilibrium are partitioned according to the type of joint so that the equations of static equilibrium can be set up automatically by computer where the type of each joint has been specified in the input data. Special attention is given to the cylindrical joint, and the implications of the geometry of an intermediate link with a cylindrical joint on both ends are examined. While the methodology is demonstrated for the RCCC mechanism, which features a revolute input joint and cylindrical intermediate and output joints, it is adaptable to closed-loop mechanisms of binary links with any kind of joint in any position.

Original languageEnglish (US)
Pages (from-to)623051-623059
Number of pages9
JournalJournal of Mechanical Design
Issue number6
StatePublished - Jun 2008

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design


  • Cylindrical joints
  • Dual number
  • RCCC
  • Simple joints
  • Static equilibrium
  • Static force
  • Static torque


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