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Research Papers

Assembly Configurations of Spatial Single-Loop Single-DOF Mechanisms

[+] Author and Article Information
David E. Foster

 Caterpillar Inc., East Peoria, IL 61630-3130

Raymond J. Cipra

School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907-2088

J. Mech. Des 131(10), 101002 (Sep 02, 2009) (15 pages) doi:10.1115/1.3125208 History: Received July 21, 2007; Revised March 10, 2009; Published September 02, 2009

This paper examines the problem of finding the assembly configurations (ACs), also called circuits, of spatial single-loop single-DOF mechanisms. All six lower pairs are considered: revolute (R), cylindric (C), prismatic (P), helical (H), spheric (S), and planar (E). The RSSR, CSS, RRSC, CCS, and RRSRR mechanisms are covered, along with all variations in which an R joint is replaced with a P or H joint, or an S joint is replaced with an E joint. The RRCRC, RRRCC, and RRRRCR mechanisms are covered, along with all appropriate variations in which an R joint is replaced by a P or H joint. A numerical method is given to find the ACs, and is illustrated with several examples.

Copyright © 2009 by American Society of Mechanical Engineers
Topics: Mechanisms
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References

Figures

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Figure 1

Spatial link dimensions and displacements

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Figure 2

Link dimensions for EC and SC links

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Figure 3

Fixing the middle joint of an SCC dyad

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Figure 4

Fixing the middle joint of an ECC dyad

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Figure 5

Fixing the middle joint of a CCC dyad

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Figure 8

AC plot for RSSR mechanism

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Figure 9

AC plot for HSSH mechanism

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Figure 10

SCS, ECS, and ECE open chains

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Figure 12

ERRS open chain

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Figure 13

ERRE open chain

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Figure 15

AC Plot for Example 2

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Figure 17

AC plot for Example 3

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Figure 19

RRERR mechanism

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Figure 20

AC plot for Example 4

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Figure 21

RRRCC mechanism

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Figure 22

AC plot for Example 5

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Figure 23

RPRRCP mechanism

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Figure 24

AC plot for Example 6, showing T3

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Figure 25

AC plot for Example 6, showing d3

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