0
RESEARCH PAPERS: Robotic Manipulator and Mechanisms Papers

Displacement Analysis of a Special Case of the 7R, Single-Loop, Spatial Mechanism

[+] Author and Article Information
Hiram Albala

Bat-Yam, 3/20 Hazor St., 59614, Israel

David Pessen

Department of Mechanical Engineering, Technion, Haifa, Israel

J. Mech., Trans., and Automation 105(1), 78-87 (Mar 01, 1983) (10 pages) doi:10.1115/1.3267351 History: Received July 02, 1982; Online November 19, 2009

Abstract

Based on the displacement equations for the general n-bar, single-loop spatial linkage, obtained elsewhere, the displacement analysis for a special case of the 7R spatial mechanism is carried out. In this mechanism the successive rotation axes are perpendicular to each other, the distances between axes 3-4, 4-5, 5-6, are equal and the offsets along axes 4 and 5 are zero, when input axis is labeled axis 1. In this fashion, there still remain nine free linkage parameters. Input-output equation is of the eighth-degree in the tangent of half the output angle. A particular case of this one, where all the distances between axes are equal and all the offsets along axes are zero, leads to an input-output equation of the fourth-degree in the same quantity, with a maximum of four closures. This mechanism resulted to be a double-rocker.

Copyright © 1983 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