Geometrically Approximated Rotatability Conditions for Spatial RSRC Mechanisms With Joint Angle Limitations

[+] Author and Article Information
J. Rastegar, Q. Tu

Department of Mechanical Engineering, State University of New York at Stony Brook, Stony Brook, NY U794-2300

J. Mech. Des 118(3), 444-446 (Sep 01, 1996) (3 pages) doi:10.1115/1.2826906 History: Received June 01, 1993; Revised February 01, 1996; Online December 11, 2007


For closed-loop spatial RSRC mechanisms, input-output rotatability conditions, i.e., conditions for the existence of crank-rocker and drag-link types of mechanisms, are derived using geometrical approximation. The rotatability conditions are derived in the presence and absence of joint angle limitations. The mechanism has two branches. By including joint angle limitations, the rotatability conditions become different for each configuration of the mechanism. The rotatability conditions eliminate the possibility of changeover.

Copyright © 1996 by The American Society of Mechanical Engineers
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