Curvature theory for a two-degree-of-freedom planar linkage (Q2426752)

The method of kinematic coefficients, as described in [Mech. Mach. Theory 38, No. 12, 1345--1361 (2003; Zbl 1062.70532)] by the author and \textit{H. Sankaranarayanan}, provides a concise description of geometric properties of a planar linkage. This method is now extended to multiple-degree-of-freedom mechanisms, and closed-form expressions are presented for kinematic coefficients and for the radius of curvature of the path traced by a coupler point. These expressions are most useful in developing a systematic procedure in the kinematic design of planar mechanisms. The planar (two-degree-of-freedom) five-bar linkage is used to illustrate the calculations. The two inputs are the side links, which are pinned to the ground and are assumed to be cranks. The kinematic coefficients are the partial derivatives of the two coupler links with respect to two input crank angles, and separate the geometric effects from the operating speeds of the mechanism. Since the linkage is operated by two driving cranks independently, the linkage can produce a wide variety of motions for the coupler links. The analytical equations developed in this paper can be incorporated into a spreadsheet, convenient for the calculation of the path curvature of a multiple-degree-of-freedom linkage. The author presents also two methods for checking the accuracy of the calculations: the method of instant centres, to check the numerical values of the first-order kinematic coefficients; a finite difference method, to check both the first- and the second-order kinematic coefficients.