DISPLACEMENT ANALYSIS OF Ro-R-R-CP SPATIAL MECHANISMS WITH VECTOR ALGEBRAIC METHOD
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Published:1999-03
Issue:1A
Volume:23
Page:95-112
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ISSN:0315-8977
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Container-title:Transactions of the Canadian Society for Mechanical Engineering
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language:en
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Short-container-title:Transactions of the Canadian Society for Mechanical Engineering
Author:
Wong C.M.1,
Chan K.C.1,
Zhou Y.B.1
Affiliation:
1. Department of Mechanical Engineering Hong Kong Polytechnic University, Hong Kong
Abstract
This paper presents the displacement analysis of the three variants of a spatial kinematic loop containing 3R and 1CP joints using vector algebraic method. The closed-form input-output displacement equations of this mechanism are derived as forth-order polynomials. Analytical steps and expressions are laid out uniformly and simply.
Publisher
Canadian Science Publishing
Subject
Mechanical Engineering