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


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
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