A Direct Rotatability Criterion for Spherical Four-Bar Linkages

[+] Author and Article Information
K. C. Gupta

Department of Mechanical Engineering, University of Illinois at Chicago, Chicago, IL 60607-7022

R. Ma

R. G. Ray Corporation Buffalo Grove, IL 60089-4503

J. Mech. Des 117(4), 597-600 (Dec 01, 1995) (4 pages) doi:10.1115/1.2826726 History: Received February 01, 1994; Revised March 01, 1995; Online December 11, 2007


The necessary and sufficient conditions for the full input rotatability in a spherical four-bar linkage are proved. The direct criterion is: for all twist angles α in the range [0, π], the excess (deficit) of the sum of the frame and input twist angles over (from) π should, in absolute value, be greater than that for the coupler and follower twist angles; the difference between the follower and input twist angles, in absolute value, should be greater than that for the coupler and follower twist angles. Application of the direct criterion to full rotatability of other links are discussed and some variations in the form of the criterion are developed.

Copyright © 1995 by The American Society of Mechanical Engineers
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