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Research Papers: Mechanisms and Robotics

Jerk Analysis and Axode Geometry of Spatial Linkages

[+] Author and Article Information
H. J. Sommer

Mechanical and Nuclear Engineering, The  Pennsylvania State University, 337 Leonhard Building, University Park, PA 16802hjs1@psu.edu

J. Mech. Des 130(4), 042301 (Feb 28, 2008) (6 pages) doi:10.1115/1.2838323 History: Received November 10, 2006; Revised May 03, 2007; Published February 28, 2008

Matrix methods for kinematic analysis of spatial linkages were extended to provide jerk of joint pair variables, individual points, and individual links. Simple expressions for axode geometry were also developed. The methods were tested on revolute-spherical-universal-revolute and revolute-cylindrical-cylindrical-cylindrical closed loop mechanisms.

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Copyright © 2008 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Angular jerk of the RSUR Output Link

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Figure 2

Pitch of ISA and parameter of distribution for fixed axode of RSUR coupler link

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Figure 3

Fixed axode of RSUR coupler link for 0deg<θ<180deg

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Figure 4

Fixed axode of RSUR coupler link for 180deg<θ<360deg

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Figure 5

Revolute pair variable jerk for RCCC

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Figure 6

Prismatic pair variable jerk for RCCC

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Figure 7

Symbolic Notation after Uicker (12)

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Figure 8

RSUR with Orthogonal Intersecting Revolutes

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Figure 9

RCCC Mechanism after Denavit (13)

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