RESEARCH PAPERS: Mechanisms Papers

Kinematic Synthesis of Spherical Two-Gear Drives With Prescribed Entire-Motion Characteristics: Displacement Analysis and Dwell Characteristics

[+] Author and Article Information
T. W. Lee, E. Akbil

Dept. of Mechanical and Aerospace Engineering, Rutgers University, New Brunswick, N.J. 08903

J. Mech., Trans., and Automation 105(4), 663-671 (Dec 01, 1983) (9 pages) doi:10.1115/1.3258532 History: Received June 15, 1982; Online November 19, 2009


This paper presents an analytical and computer-aided procedure on the kinematic synthesis of the spherical two-gear drive with prescribed dwell characteristics. The first part gives a displacement analysis which includes an investigation of the general case of spherical five-link, 5R mechanisms and the spherical geared five-link case. Two approaches, one making use of the spherical trigonometric relations and the other involving sequential coordinate transformations by real and orthogonal [3 × 3] matrices, yield identical input-output expressions. The remainder of the paper focuses on the dwell characteristics of the spherical two-gear drive using algebraic methods based on the displacement equation. Dwell criteria for the general m th-order dwell are derived. A specific example which involves a joint consideration of other entire-motion characteristics, such as limit positions and transmission-angle variations, is given to illustrate both the theory as well as the computer-aided synthesis procedure.

Copyright © 1983 by ASME
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