Synthesis of multi-DOF mechanisms by using connecting chains
A procedure for the synthesis of mechanisms with multiple degrees of freedom using connecting chains has been developed. The concepts of mobile and quasi-mobile spaces are defined with respect to the screw spaces formed by joint motors in the connecting chains. In a mechanism with multiple
degrees of freedom such that a fixed link and an output link are connected by several chains, the output link can execute any motion belonging to the space which is given by the intersection of the screw spaces of the connecting chains. The condition that the screw spaces of the connecting
chains are either mobile or quasi-mobile with respect to the motion of the output link is proved to be sufficient for this intersection of screw spaces to remain unchanged throughout the motion of the mechanism. Examples of the synthesis of mechanisms for translational motion are used to demonstrate
that mechanisms with multiple degrees of freedom capable of executing prescribed motions can be synthesized by using this condition.
Document Type: Research Article
Affiliations: Production Engineering Research Laboratory, Hitachi Ltd., 292 Yoshida-cho, Totsuka-ku, Yokohama 244, Japan
Publication date: 01 January 1991
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