Affiliation:
1. Department of Mechanical and Aerospace Engineering, University of Dayton, Dayton, OH 45469 e-mail:
2. General Motors R&D Center, Warren, MI 48090 e-mail:
Abstract
This paper considers single degree-of-freedom (DOF), closed-loop linkages with a designated input angle and one design parameter. For a fixed value of the design parameter, a linkage has input singularities, that is, turning points with respect to the input angle, which break the motion curve into branches. Motion of the linkage along each branch can be driven monotonically from the input. As the design parameter changes, the number of branches and their connections, in short the topology of the motion curve, may change at certain critical points. Allowing the design parameter to vary, the singularities form a curve called the critical curve, whose projection is the singularity trace. Many critical points are the singularities of the critical curve with respect to the design parameter. The critical points have succinct geometric interpretations as transition linkages. This paper presents a general method to compute the singularity trace and its critical points. As an example, the method is used on a Stephenson III linkage, and a range of the design parameter is found where the input angle is able to rotate more than one revolution between singularities. This characteristic is associated with critical points that appear as cusps on the singularity trace.
Reference36 articles.
1. On the Tangent-Half-Angle Substitution,1993
2. Box Approximations of Planar Linkage Configuration Spaces;ASME J. Mech. Des.,2007
3. Solving the Kinematics of Planar Mechanisms;ASME J. Mech. Des.,1999
4. Solving the Kinematics of Planar Mechanisms by Dixon Determinant and a Complex-Plane Formulation;ASME J. Mech. Des.,2001
Cited by
13 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献