Synthesis of Planar Six-Link Path-Generator : Part 2, On the Cusps of Watt Mechanism

抄録

The number of cusps and the inclinations of tangents at cusps on a coupler curve of a six-link Watt mechanism are derived, and synthesis of a mechanism with a closed coupler curve having three cusps is carried out, for the purpose of applying cusps to working points of automatic machines. When a mechanism synthesized statically is driven, the coupler cannot make the desired motion because of the eccentricities of the joints with clearances due to the gravities and inertia forces. Then analyzing the behavior of pair elements by considering the condition for contact and friction, and deriving the condition about the clearances and link lengths in order that the coupler curve may have a cusp, a dynamic synthesis is carried out. Such behaviors of joints and the coupler motions are certified experimentally.