Bulletin of JSME
Online ISSN : 1881-1426
Print ISSN : 0021-3764
Synthesis of Spatial 5-Link Path Generator : Part 1, Two Couplers Joined by a Spherical Pair
Hiroshi SHIMOJIMAKiyoshi OGAWATakashi TAKEUCHI
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1975 Volume 18 Issue 125 Pages 1300-1307

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Abstract

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.

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© The Japan Society of Mechanical Engineers
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