3D MBSD complexity comes from orientation and reaction loads

The hard part of moving from 2D to 3D MBSD is not adding one more position coordinate.

The hard part is orientation. Euler angles can create singularities, quaternions add a unit-norm constraint, and each spatial joint blocks multiple translational and rotational directions. The reaction loads also become forces and torques, not simple planar reactions.

This is the real 3D wall: richer geometry means richer constraints.

Related:

• The physics of Mechanisms in the SPACE
• The physics of motor/bi cycles
• Bringing Mechanisms to Life