Spherical Chebyshev Lambda Linkage

- Reciprocating motion with pseudo-circular arc trajectory and evaluation of its applicability-

Abstract

In this research, we propose a Spherical Chebyshev Lambda Linkage that projects the conventional Chebyshev linkage mechanism onto a sphere. This mechanism has the advantage of being a closed-loop structure, even though it outputs a complex spatial trajectory that includes pseudo-circular arc motion. Therefore, this mechanism can be applied to industries, including factory automation, to achieve high efficiency in the desired task. In this paper, we first attempt to formulate the motion trajectory of the proposed linkage in order to confirm the basic principle and verify the feasibility. In addition, we embody an actual linkage model to verify the validity of the geometric model.