0
RESEARCH PAPERS

Displacement Analysis of a Spatial 7R Mechanism—A Generalized Lobster’s Arm

[+] Author and Article Information
J. Duffy, S. Derby

Department of Mechanical Engineering, Rensselaer Polytechnic Institute, Troy, N. Y. 12181

J. Mech. Des 101(2), 224-231 (Apr 01, 1979) (8 pages) doi:10.1115/1.3454042 History: Received May 28, 1978; Online October 21, 2010

Abstract

An input-output equation of degree 24 is derived for a spatial 7R mechanism with consecutive pair axes intersecting. This mechanism is essentially the mathematical model for the kinematic analysis of a lobster’s arm which is an open 6R chain with mutually perpendicular consecutive pair axes, the geometry of which was first described by Willis [4] in 1841. The analysis of this special 7R mechanism constitutes a major step towards the solution of the general 7R mechanism with seven axes arbitrarily oriented in space.

Copyright © 1979 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In