RESEARCH PAPERS: Mechanisms Papers

Rotatability Considerations for Spherical Four-Bar Linkages With Applications to Robot Wrist Design

[+] Author and Article Information
K. C. Gupta

Department of Mechanical Engineering, University of Illinois at Chicago, Chicago, IL 60680

J. Mech., Trans., and Automation 108(3), 387-391 (Sep 01, 1986) (5 pages) doi:10.1115/1.3258744 History: Received July 01, 1986; Online November 19, 2009


The following result for spherical four-bar mechanisms is proved: Let all links of a spherical four-bar linkage be in the range [0, π]. Consider two linkages—one primary (p) and another secondary (s) according to the condition αi p + αf p < αi s + αf s where αs = π − αp . Then the input link is fully rotatable iff αi p + αf p < αc + α0 , |αi p − αf p | > |αc − α0 | and αi p + αf p + αc + α0 < 2π. An alternate form of this result also is developed. Applications of these results in determining full or partial rotatability of grippers in spherical robot wrists are discussed.

Copyright © 1986 by ASME
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