Kinematic Analysis and Branch Identification of RSCR Spatial Four-Link Mechanisms
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概要
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The formulas for displacement and velocity analyses are derived for the RSCR spatial four-link mechanism and the velocity of the coupler link is geometrically determined by instantaneous screw axes.The condition for limit positions of the driving-link motion is obtained on the basis of the force transmissibility from the coupler link to the driven link and the deteminant, which is composed of the coefficients of simultaneous equations for velocity analyses.By geometrically investigating the conditional function, a quantity is proposed in order to evaluate motion and force transmission characteristics.The parts of the functional relationship between input and output angles divided by the limit positions of the driving link, which are called branches and correspond to the composition loops of the mechanism, are identified by means of two newly established rules.
- 一般社団法人日本機械学会の論文
- 1998-09-15
著者
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Watanabe Katsumi
Faculty Of Engineering Yamagata University
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Sekine Takeshi
Komori Machinary Co.ltd.
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NANGO Jun
Faculty of Engineering, Yamagata University
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Nango Jun
Faculty Of Engineering Yamagata University
関連論文
- A Displacement Analysis of Complex Six-Link Mechanisms of the Stephenson-Type : Vibration, Control Engineering, Engineering for Industry
- Evaluation of Motion-Transmission Characteristics of RSSR Spatial Four-Link Mechanisms
- Identification of Nonlinear Multi-Degree-of-Freedom Systems : Identification Under Noisy Measurements
- Identification of Nonlinear Multi-Degree-of-Freedom Systems : Presentation of an Identification Technique
- Kinematic Analysis and Branch Identification of RSCR Spatial Four-Link Mechanisms
- Approximate Synthesis of Plane Four-Bar Mechanism for Curve Generation
- Approximate Synthesis of Spherical Four-Bar Mechanisms
- Evaluation of Motion-Transmission Characteristics of Planar Six-Link Mechanisms with a Prismatic Pair
- Study on Spatial Four-Link Chain Having Four Cylindrical Pairs
- Approximate Synthesis of Plane Four-Bar Mechanism for Function Generation
- On the Control of Attitude of Biped Locomotion by Linear-Motion Balancer
- Kinematic Analysis of Stephenson Six-Link Mechanisms : 2nd Report, Index of Motion-Transmission Characteristics
- On the Envelope Curves of the Coupler Lines of Plane Four-Bar Mechanisms : 1st Report, Synthesis of Mechanism
- Approximate Synthesis of Spherical Four-Bar Mechanisms : 2nd Report, A Method for Calculating Co-ordinates of the Burmester Points
- Kinematic Analysis of Stephenson Six-Link Mechanisms : 1st Report, Discrimination of Composition Loops
- Approximate Synthesis of Plane Four-Bar Mechanism for Rigid Body Guidance
- On the Envelope Curves of the Coupler Lines of Plane Four-Bar Mechanisms : 2nd Report, Analysis of Singularity and Accuracy of the Envelope curves