A quaternionic description of kinematics and dynamics universal joint

Abstract

The purpose of the work is figuring out the kinematic and dynamic equations of u-joint motion in the quaternion parametrization. The quaternion description of u-joint kinematics allowed us to formulate the claims about the crosspiece angular velocity projections. We've also determined the principle point projection acting on the crosspiece by solving the inverse problem from Euler's dynamic equations with the found driving shaft's angular velocity and the inertial crosspiece characteristics. The modeling results are verified in the computer software-Mathcad and can be used for creating optimal u-joint designs by changing its geometry. © Published under licence by IOP Publishing Ltd.