1975 Volume 18 Issue 125 Pages 1300-1307
For the purpose of describing spatial paths, two methods are suggested : one is realized by composing several planar mechanisms, and the other by using pairs with multiple degrees of freedom. In this paper, a spatial 5-link mechanism whose couplers are joined by a spherical pair is studied. The coupler motions of some triads composed of a fixed link, an arm, and a coupler are analyzed, and the relations between the shape of the triad and the position and moving direction of the coupler are derived. Then joining two couplers by a spherical pair, a mechanism which satisfies two precision positions, the directions of motion, and the path between them is synthesized. Moreover, it is experimentally proved that the mechanism has no change point and no intersection of links, and has high static and dynamic accuracy.
JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing
JSME International Journal Series B Fluids and Thermal Engineering
JSME International Journal Series A Solid Mechanics and Material Engineering
JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing
JSME international journal. Ser. 3, Vibration, control engineering, engineering for industry
JSME international journal. Ser. A, Mechanics and material engineering
JSME international journal. Ser. 1, Solid mechanics, strength of materials