RESEARCH PAPERS: Mechanisms and Design Automation Papers

Kinematic Mappings. Part 2: Rational Algebraic Motions in the Plane

[+] Author and Article Information
S. De Sa

Hewlett Packard, San Diego, CA 92127

B. Roth

Department of Mechanical Engineering, Stanford University, Stanford, CA 94305

J. Mech. Des 103(4), 712-717 (Oct 01, 1981) (6 pages) doi:10.1115/1.3254977 History: Received June 01, 1980; Online November 17, 2009


Using the concept of kinematic mappings, a theorem is derived which relates the order and circularity of a rational algebraic planar motion to the order and cirularity of the rotation curve and the order of a rotation function (which depends only on the relative orientation of the fixed and moving planes). It is shown that the equations of the point-paths, centrodes and directrices follow from the image space and its mappings in a straightforward fashion. Several examples are presented showing how to qualitatively synthesize whole cycle motions.

Copyright © 1981 by ASME
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