THE ALGEBRA OF INFINITESIMAL ORTATION AND ITS APPLICATIONS TO THE KINEMATIC ANALYSIS OF MECHANISMS

Based on the algebra of rotation, this paper derives the relations between the derivatives of successive rot at ions, bringing to a number of important properties of infinitesimal rotation. The algebra of infinitesimal rotation is the mathematical background of the micro-rotation method,a method for the kinematic analysis of mechanisms. As a concrete example of application cf tbs algebra, the paper also discusses ths kinematic analysis of a general spatial 7R, 7-link mechanism.