RESEARCH PAPERS: Mechanisms Papers

Displacement Analysis of Spatial Six-Link, 5R-C Mechanisms: A General Solution

[+] Author and Article Information
Xu Li Ju, J. Duffy

Center for Intelligent Machines and Robotics, University of Florida, Gainesville, FL

J. Mech., Trans., and Automation 107(3), 353-357 (Sep 01, 1985) (5 pages) doi:10.1115/1.3260721 History: Received June 13, 1984; Online November 19, 2009


Four angular displacement equations are derived for the spatial 5R-C hexagon from which an input-output equation of 16th degree in the tan-half-angle of the output angular displacement for each of the RCRRRR, RRCRRR mechanisms and the yet unsolved RRRRRC2 mechanism can be obtained by the elimination of two unwanted variables in a single operation. This novel problem formulation is a general solution for all 5R-C mechanisms. Results are verified by a numerical example.

Copyright © 1985 by ASME
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