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

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  • 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.

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<jats:p>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.</jats:p>

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