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Development of a software library of functions for analysis of spatial mechanisms

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Abstract

An integrated method for symbolical derivation of Eqs and numerical computations using dual numbers for analysis of spatial mechanisms is presented in this paper. The formulation is based on 3×3 dual transformation matrices and derived symbolically using the MathematicaTM software package. Based on the solution procedure presented in this paper, a software library of functions for displacement analysis of spatial mechanisms has been developed. Functions in this software library can be readily used in theC H language environment, where dual number is treated as a first-class object. Displacement analysis of the RCRCR spatial mechanisms is used as an example to illustrate the solution procedure and programming details.

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Authors and Affiliations

  1. Integration Engineering Laboratory, Department of Mechanical and Aeronautical Engineering, University of California, One Shields Avenue, 95616, Davis, CA, USA

    Harry H. Cheng & Pablo Gonzalez

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  1. Harry H. Cheng
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  2. Pablo Gonzalez
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Cheng, H.H., Gonzalez, P. Development of a software library of functions for analysis of spatial mechanisms. Engineering with Computers 14, 156–167 (1998). https://doi.org/10.1007/BF01213590

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