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.
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Application of Dual-Number Quaternion Algebra to the Analysis of Spatial Mechanisms
A. T. Yang,
A. T. Yang
Research and Development Division, American Machine and Foundry Company, Springdale, Conn.
Department of Mechanical Engineering, Columbia University, New York, N. Y.
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Yang, A. T., and Freudenstein, F. (June 1, 1964). "Application of Dual-Number Quaternion Algebra to the Analysis of Spatial Mechanisms." ASME. J. Appl. Mech. June 1964; 31(2): 300–308. https://doi.org/10.1115/1.3629601
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