RESEARCH PAPERS: Mechanisms Papers

Optimization of Spherical Joint Attachment in Spatial Linkages

[+] Author and Article Information
M. M. Stanišić

Aerospace and Mechanical Engineering Department, The University of Notre Dame, Notre Dame, IN 46556

W. F. Mirusky

AGV Engineering, Interlake Material Handling Division, Lisle, IL 60532

J. Mech., Trans., and Automation 110(4), 440-445 (Dec 01, 1988) (6 pages) doi:10.1115/1.3258942 History: Received July 22, 1988; Online November 19, 2009


This paper presents the kinematic analysis and optimization technique required for the optimal attachment of a spherical joint (i.e., a ball in a socket) to the ground pivoted link of an RSSR spatial four-bar linkage. The optimization technique is a searching algorithm, which can be applied to the problem of optimal spherical joint attachment in other types of spatial linkages as well. This attachment optimization is necessary if the socket of the joint is to have its maximum ball retention capability. The optimization technique is illustrated by an example.

Copyright © 1988 by ASME
Topics: Optimization
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