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TECHNICAL PAPERS

A Graphical Method to Find the Secondary Instantaneous Centers of Zero Velocity for the Double Butterfly Linkage

[+] Author and Article Information
David E. Foster

Senior Engineer—Design, Caterpillar, Inc., East Peoria, Illinois 61630-3130

Gordon R. Pennock

School of Mechanical Engineering, Purdue University, West Lafayette, Indiana 47907-1288

J. Mech. Des 125(2), 268-274 (Jun 11, 2003) (7 pages) doi:10.1115/1.1567313 History: Received December 01, 2001; Revised November 01, 2002; Online June 11, 2003
Copyright © 2003 by ASME
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References

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Hall, A. S., Jr., 1986, Kinematics and Linkage Design, Waveland Press, Inc., Prospect Heights, Illinois. (Originally published by Prentice-Hall, Inc., 1961).
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Klein, A. W., 1917, Kinematics of Machinery, McGraw-Hill Book Company, Inc., New York.
Crossley, F. R. E., 1965, “The Permutations of Kinematic Chains of Eight Members or Less from the Graph-Theoretic Viewpoint,” Developments in Theoretical and Applied Mechanics, W. A. Shaw, ed., Volume 2, Proc. Second Southeastern Conference on Theoretical and Applied Mechanics, Atlanta, GA, pp. 467–486, March 5–6.
Hain, K., 1967, Applied Kinematics, Second Edition, McGraw-Hill Book Co., New York.
Bagci,  C., 1983, “Turned Velocity Image and Turned Velocity Superposition Techniques for the Velocity Analysis of Multi-Input Mechanisms Having Kinematic Indeterminacies,” Mechanical Engineering News, 20(1), February, pp. 10–15.
Hasan, A., 1999, “A Kinematic Analysis of an Indeterminate Single-Degree-of-Freedom Eight-Bar Linkage,” M.S.M.E. Thesis, School of Mechanical Engineering, Purdue University, West Lafayette, Indiana, December.
Dijksman, E. A., 1977, “Why Joint-Joining is Applied on Complex Linkages,” Proceedings of the Second IFToMM International Symposium on Linkages and Computer Aided Design Methods, Vol. II, paper 17, pp. 185–212, SYROM ’77, Bucharest, Romania, June 16–21.
Yan, H-S., and Hsu, M-H., 1992, “An Analytical Method for Locating Velocity Instantaneous Centers,” Proceedings of the 22nd Biennial ASME Mechanisms Conference, DE-Vol. 47, Flexible Mechanisms, Dynamics, and Analysis, pp. 353–359, Scottsdale, Arizona, September 13–16.
Rosenauer, N., and Willis, A. H., 1953, Kinematics of Mechanisms, Associated General Publications Pty. Ltd., Sydney, Australia.
Waldron,  K. J., and Sreenivasan,  S. V., 1996, “A Study of the Position Problem for Multi-Circuit Mechanisms by Way of Example of the Double Butterfly Linkage,” ASME J. Mech. Des., 118(3), September, pp. 390–395.
Pennock,  G. R., and Kassner,  D. J., 1992, “Kinematic Analysis of a Planar Eight-Bar Linkage: Application to a Platform-Robot,” ASME J. Mech. Des., 114(1), March, pp. 87–95.

Figures

Grahic Jump Location
(a) A schematic diagram of the double butterfly linkage (b) The Two Degree-of-Freedom Nine-Bar Linkage
Grahic Jump Location
(a) The left six-bar linkage (b) The right six-bar linkage
Grahic Jump Location
(a) The locus of the instant center I5+9+ (b) The locus of the instant center I5*9*
Grahic Jump Location
The instant centers I13 and I17 of the double butterfly linkage
Grahic Jump Location
Notation for the angular displacements
Grahic Jump Location
Linkage used in the appendix to discuss locus of the instant center I59

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