Curvature theory for a two-degree-of-freedom planar linkage

DOI10.1016/J.MECHMACHTHEORY.2007.03.012MaRDI QIDQ2426752zbMATH OpenOpenAlexFDO

Authors Gordon R. Pennock

Publication date 14 May 2008

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2007.03.012

zbMATH Keywords

coupler pointfinite difference methodfive-bar linkagekinematic coefficients

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15)

Review text

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.

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Cites work

• An Iterative Method for the Displacement Analysis of Spatial Mechanisms
• Duality between the kinematics of gear trains and the statics of beam systems
• scientific article; zbMATH DE number 3083987 (Why is no real title available?)
• Path curvature of a geared seven-bar mechanism.
• Velocity analysis of two 3-R robots manipulating a disk.

Cited in

(10)

• The rotational geometric influence coefficients of a planar multi-loop mechanism
• Velocity analysis of two 3-R robots manipulating a disk.
• A classification method for input joints of planar five-bar mechanisms.
• Path curvature of a geared seven-bar mechanism.
• Motion properties of planar two-degree-of-freedom mechanisms.
• Curvature theory for the double flier eight-bar linkage
• Geometry of a five link mechanism with two degrees of freedom
• Computer-aided curvature analyses of planar four-bar linkage mechanism
• Elliptical harmonic motion and Euler-Savary formula
• A study of the instantaneous centers of velocity for two-degree-of-freedom planar linkages

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