Spatial mechanisms with several rigid bodies

  • Hubert Hahn


In this chapter, the following applications of mechanisms which include two or more rigid bodies under constrained spatial motion will be theoretically modeled:
  • Antenna for flight vehicles.

  • Differential gear.

  • Platform of an airborne sensor.

  • Hexapode with 13 rigid bodies and 18 joints.

  • Platform mounted on a test facility

  • Spatial vehicle model.


Rigid Body Electrical Drive Inertial Frame Revolute Joint Parallel Robot 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  • Hubert Hahn
    • 1
  1. 1.Regelungstechnik und Systemdynamik, FB MaschinenbauUniversität Gh KasselKasselGermany

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