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TECHNICAL PAPERS

Mobility Analysis of a Class of RPSPR Kinematic Chains

[+] Author and Article Information
Anirvan DasGupta

Dept. of Mechanical Engineering, IIT Kharagpur, 721302 Indiae-mail: anir@mech.iitkgp.ernet.in

J. Mech. Des 126(1), 71-78 (Mar 11, 2004) (8 pages) doi:10.1115/1.1637649 History: Received July 01, 2001; Revised June 01, 2003; Online March 11, 2004
Copyright © 2004 by ASME
Topics: Chain , Mechanisms
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References

Figures

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General kinematic structure of a RPSPR chain
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Graphical mobility conditions for link 1 with sin2 α2>sin2 β: (a) crank of crank-rocker, (b) rocker of crank-rocker/double-rocker, and (c) crank of double-crank
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Sufficient conditions for link 1 to be crank with sin2 α2>sin2 β
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Graphical mobility conditions for link 1 with sin2 α2<sin2 β: (a) crank of crank-rocker, and (b) rocker of crank-rocker/double-rocker
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Sufficient conditions for link 1 to be crank with sin2 α2<sin2 β
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Graphical mobility conditions for link 2: (a) crank of double-crank, (b) crank of crank-rocker, and (c) crank of crank-rocker
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Sufficient conditions for link 2 to be crank with [(l2 cot α2 tan β+d02)2+d22 sin2 β]/l12<1: (a) crank of double-crank, and (b) crank of crank-rocker
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Example 1: (a) rotatability conditions of link 1, (b) rotatability conditions of link 2, and (c) θ12 plot of crank-rocker with link 2 as crank
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Example 2: (a) rotatability conditions of link 1, (b) rotatability conditions of link 2, and (c) θ12 plot of double-crank mechanism
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Example 3: (a) rotatability conditions of link 1, (b) rotatability conditions of link 2, and (c) θ12 plot of single-mode double-rocker mechanism
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Example 3: (a) rotatability conditions of link 1, (b) rotatability conditions of link 2, and (c) θ12 plot of two-mode double-rocker mechanism

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