Synthesis of multi-DOF mechanisms by using connecting chains.

概要

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A procedure for synthesis of multi-degrees of freedom mechanisms composed of connecting chains has been developed. The concept of mobile and quasi-mobile screw spaces comprised by joints in the connecting chains was newly introduced in this paper. When an output link and a fixed link are connected by plural of connecting chains, the output link can make any motion expressed by an arbitrary screw in the intersection of the screw spaces of the connecting chains. It is proved that the sufficient condition that the intersection of screw spaces of the connecting chains does not change in the entire range of motion of the mechanism is for each screw space of the connecting chains to be mobile or quasi-mobile with respect to the motion of the output link. Examples of synthesis of mechanisms for translational motions show that a multi-degrees of freedom mechanism which can make specified motions can be synthesized by using this condition.
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