Synthesis of Spatial Multiple-Link Path-Generator

Abstract

Among spatial path-generating mechanisms some four-link mechanisms have been analyzed and synthesized. However these mechanisms have only several parameters which determine the coupler motion, and hardly generate complex motions. In order to generate complex motions, the methods of using the spatial multiple-link mechanisms which have pairs of multiple degrees of freedom and the ones which are composed of several planar mechanisms are suggested. In the present paper, the spatial motions with translations along three axes and rotations about two axes are classified. Taking such motions apart into several planar ones, a spatial multiple-link mechanism composed of the planar mechanisms which generate each planar motion is synthesized. Then making a mechanism as an example, theoretical and experimental analyses of the static and dynamic displacements are performed, and by use of these results, a dynamic synthesis is carried out.