A study of the instantaneous centers of velocity for the 3-dof planar six-bar linkage

DOI10.1016/J.MECHMACHTHEORY.2011.04.004MaRDI QIDQ634975zbMATH OpenOpenAlexFDO

Authors David E. Foster, Gordon R. Pennock

Publication date 17 August 2011

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

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2011.04.004

zbMATH Keywords

double linedouble pointlines of centers

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Review text

The graphical and analytical techniques for locating the instantaneous centers of velocity (secondary centers) for the planar linkage with two degrees of freedom, published by the authors [ibid. 45, No. 4, 641--657 (2010; Zbl 1254.70009)], are extended to locate the unknown secondary centers of a six-bar linkages with three degrees of freedom. The secondary centers can be single points or infinite lines. Several theorems are proven for the general six-bar linkage to obtain the number of double points and lines in the linkage, and several refinements are derived for special cases of the linkage geometry. The detailed discussion is useful in both the kinematic analysis and the kinematic synthesis of multi-degree of freedom planar linkages. For instance, the study provides insights as to where to pin certain links to obtain a particular motion of the coupler link. It provides also a better understanding of the first-order instantaneous kinematic properties of potentially useful linkages.

Recommendations

• A study of the instantaneous centers of velocity for two-degree-of-freedom planar linkages
• A general graphical procedure for finding motion centers of planar mechanisms
• Further analytical investigation into centrodes of the planar FBL: symbolic representations, double points, tacnodes, degenerate forms
• The geometry of singular foci of planar linkages
• Path curvature of a geared seven-bar mechanism.

Cites work

• A study of the instantaneous centers of velocity for two-degree-of-freedom planar linkages
• scientific article; zbMATH DE number 5190352 (Why is no real title available?)
• scientific article; zbMATH DE number 2167035 (Why is no real title available?)
• scientific article; zbMATH DE number 3337683 (Why is no real title available?)
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Cited in

(7)

• Further analytical investigation into centrodes of the planar FBL: symbolic representations, double points, tacnodes, degenerate forms
• Path curvature of a geared seven-bar mechanism.
• Singular foci of planar linkages
• Curvature theory for the double flier eight-bar linkage
• A general graphical procedure for finding motion centers of planar mechanisms
• Relative centers of motion, implicit bars and dead-center positions for planar mechanisms
• A study of the instantaneous centers of velocity for two-degree-of-freedom planar linkages

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