Abstract
Abstract. This paper presents a synthesis methodology of RCCC linkages based
on the solution region methodology, R denoting a revolute joint and C
denoting a cylindrical joint. The RCCC linkage is usually synthesized via its
two defining dyads, RC and CC. For the four poses problem, there are double
infinite solutions of the CC dyad, but there is no solution for the RC dyad.
However, if a condition is imposed that leads to a coupling of the two dyads,
a maximum of four poses can be visited with the RCCC linkage. Unfortunately,
until now, there is no methodology to synthesize the RCCC linkage for four
given poses besides optimization method. According to the coupling condition
above, infinite exact solutions of RCCC linkages can be obtained. For
displaying these RCCC linkages, we first build a spherical 4R linkage
solution region. Then solutions with circuit and branch defects can be
eliminated on this solution region, so that the feasible solution region is
obtained. An RCCC linkage can be obtained by using the prescribed spatial
positions and selected a value on the feasible solution region. We take
values on the feasible solution region by a certain step length and many
exact solutions for RCCC linkages can be obtained. Finally we display these
solutions on a map, this map is the solution region for RCCC linkages.
Funder
National Natural Science Foundation of China
Subject
Industrial and Manufacturing Engineering,Fluid Flow and Transfer Processes,Mechanical Engineering,Mechanics of Materials,Civil and Structural Engineering,Control and Systems Engineering
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