A simulation technique, applicable to any spatial mechanism having lower pairs, is presented. A detailed description of the required electronic analog-computer circuitry is given. The geometrical relationships imposed by a mechanism are satisfied in the simulation by contactor feedback-control systems, thereby minimizing the need for nonlinear computing components such as squarers and multipliers. Several example simulations are presented.
The Study of Spatial Mechanisms by Electronic Analog Computer
R. E. Keller
Department of Mechanical Engineering, Stanford University, Stanford, Calif.
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Keller, R. E. (August 1, 1966). "The Study of Spatial Mechanisms by Electronic Analog Computer." ASME. J. Eng. Ind. August 1966; 88(3): 301–310. https://doi.org/10.1115/1.3670950
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