RESEARCH PAPERS: Mechanisms Papers

Displacement Analysis of Two Special Cases of the TTTR Mechanisms

[+] Author and Article Information
Wei Lin, Joseph Duffy

Center for Intelligent Machines and Robotics, Department of Mechanical Engineering, University of Florida, Gainesville, FL 32611

J. Mech., Trans., and Automation 111(3), 309-314 (Sep 01, 1989) (6 pages) doi:10.1115/1.3259000 History: Received December 21, 1988; Online November 19, 2009


A pair of quartic polynomials in the tangent of the output angular displacement were derived for two TTTR mechanisms designed in such a way that the serially connected pairs of Hooke joints have their successive transverse axes parallel or mutually perpendicular. These results form the basis for an efficient reverse displacement analysis and for the design of a new group of robots with three serially connected Hooke joints which may prove to be attractive to industry.

Copyright © 1989 by ASME
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