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TECHNICAL BRIEFS

A New Method to Analyze Spatial Binary Mechanisms With Spherical Pairs

[+] Author and Article Information
Psang Dain Lin

Department of Mechanical Engineering, National Cheng Kung University, Tainan 701, Taiwan

Jung-Fa Hsieh1

Department of Mechanical Engineering, Far East University, Tainan 744, Taiwanseznof@cc.feu.edu.tw

1

Corresponding author.

J. Mech. Des 129(4), 455-458 (Mar 29, 2006) (4 pages) doi:10.1115/1.2437782 History: Received March 11, 2005; Revised March 29, 2006

One of the most popular mathematical tools in the fields of robotics and mechanisms is the Denavit-Hartenberg (DH) notation (Denavit and Hartenberg, 1955, J. Appl. Mech., 77, pp. 215–221). It is valid only for mechanisms containing prismatic, revolute, helical, and cylindrical pairs, but cannot be applied to spherical pairs. This paper presents an extended DH notation that includes spherical pairs, consequently allowing the required independent parameters of any spatial binary mechanism to be listed for purposes of analysis and synthesis. Further, the interference-free region with maximum ball-retention capability of a socket in a spherical pair can be determined analytically. Extended DH notation can systematically model arbitrary binary mechanisms with spherical pairs, simplifying their design and study.

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Copyright © 2007 by American Society of Mechanical Engineers
Topics: Mechanisms
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Contour Σ1 on the socket P2− traced by the x2 of RSSR

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