Abstract
The displacement. velocity and acceleration analysis of the general spatial 7R mechanism is discussed in this paper. Based on the method proposed in Ref. [2], an input-output algebra equation of the 16th degree in the tan-half-angle of the output angular displacement is derived. The derivation process and computation are considerably simple. A program written in AI language is used to derive the coefficients of displacement equations: therefore the amount of manual work is greatly decreased. The results are verified by a numerical example. The researches of this paper and Ref.[5] found a base for establishing an expert system of spatial mechanism analysis in the future.
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