Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Projective Constraint Stabilization for a Power Series Forward Dynamics Solver J. Dyn. Sys., Meas., Control. 2013;135(3): doi: / Clemens CV coupling at initial posture: direction vectors ω1,…,ω9 are placed along the joint axis lines Figure Legend:
Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Projective Constraint Stabilization for a Power Series Forward Dynamics Solver J. Dyn. Sys., Meas., Control. 2013;135(3): doi: / Planar projection of the screw motion of a point following an arc of radius R and angle θ Figure Legend:
Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Projective Constraint Stabilization for a Power Series Forward Dynamics Solver J. Dyn. Sys., Meas., Control. 2013;135(3): doi: / Dynamic response of Clemens CV coupling input shaft rotation angle Figure Legend:
Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Projective Constraint Stabilization for a Power Series Forward Dynamics Solver J. Dyn. Sys., Meas., Control. 2013;135(3): doi: / Dynamic response of Clemens CV coupling output shaft pitch and yaw deflection angles Figure Legend:
Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Projective Constraint Stabilization for a Power Series Forward Dynamics Solver J. Dyn. Sys., Meas., Control. 2013;135(3): doi: / Projective correction to the order 2 solution of the input shaft rotation angle Figure Legend:
Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Projective Constraint Stabilization for a Power Series Forward Dynamics Solver J. Dyn. Sys., Meas., Control. 2013;135(3): doi: / Projective correction to the order 2 solution of the input shaft rotation rate Figure Legend:
Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Projective Constraint Stabilization for a Power Series Forward Dynamics Solver J. Dyn. Sys., Meas., Control. 2013;135(3): doi: / Projective correction to the order 4 solution of the input shaft rotation rate Figure Legend:
Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Projective Constraint Stabilization for a Power Series Forward Dynamics Solver J. Dyn. Sys., Meas., Control. 2013;135(3): doi: / Relative computation times for the order 8 forward-dynamics solution Figure Legend: