Application of Dual-Number Quaternion Algebra to the Analysis of Spatial Mechanisms

[+] Author and Article Information
A. T. Yang

Research and Development Division, American Machine and Foundry Company, Springdale, Conn.

F. Freudenstein

Department of Mechanical Engineering, Columbia University, New York, N. Y.

J. Appl. Mech 31(2), 300-308 (Jun 01, 1964) (9 pages) doi:10.1115/1.3629601 History: Received May 25, 1963; Online September 15, 2011


Dual-number quaternion algebra has been used to obtain explicit, closed-form algebraic expressions for the displacements, velocities, velocity ratios, forces, torques, mechanical advantages, transmission angle, and locking positions in spatial four-link mechanisms having one turning pair and three turn-slides. The results have been programmed for automatic digital computation.

Copyright © 1964 by ASME
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