Research Papers: Mechanisms and Robotics

Static Equilibrium of Spatial Mechanisms With Cylindrical Joints

[+] Author and Article Information
Ian S. Fischer

Mechanical Engineering, New Jersey Institute of Technology, Newark, NJ 08854

J. Mech. Des 130(6), 062305 (Apr 15, 2008) (9 pages) doi:10.1115/1.2900721 History: Received June 14, 2007; Revised January 09, 2008; Published April 15, 2008

The components of force and torque acting on a joint of a link in static equilibrium are partitioned according to the type of joint so that the equations of static equilibrium can be set up automatically by computer where the type of each joint has been specified in the input data. Special attention is given to the cylindrical joint, and the implications of the geometry of an intermediate link with a cylindrical joint on both ends are examined. While the methodology is demonstrated for the RCCC mechanism, which features a revolute input joint and cylindrical intermediate and output joints, it is adaptable to closed-loop mechanisms of binary links with any kind of joint in any position.

Copyright © 2008 by American Society of Mechanical Engineers
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Figure 1

Static equilibrium of a general link with simple joints

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Figure 2

RCCC spatial four-bar mechanism with input-joint offset s1=0

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Figure 3

Torque components acting on Joint 1

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Figure 4

Force components acting on Joint 1




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