DEVELOPMENT OF A SOFTWARE LIBRARY OF FUNCTIONS FOR ANALYSIS OF SPATIAL MECHANISMS

An integrated method for symbolical derivation of Eqs and numerical co mputations using dial numbers for analysis of spatial mechanisms is pr esented in this paper. The for mutation is based on 3 x 3 dual transfo rmation matrices and derived symbolically using the Mathematica(TM) so ftware package. Based on the solution procedure presented in this pape r, a software library of functions for displacement analysis of spatia l mechanisms has been developed. Functions in this software library ca n be readily used in the C-H language environment, where dual number i s treated as a first-class object. Displacement analysis of the RCRCR spatial mechanisms is used as an example to illustrate the solution pr ocedure and programming details.