RESEARCH PAPERS: Mechanisms Papers

Necessary and Sufficient Existence Criteria of Overconstrained Five-Link Spatial Mechanisms With Helical, Cylinder, Revolute, and Prism Pairs

[+] Author and Article Information
P. R. Pamidi

Research and Development Dept., American Bureau of Shipping, New York, N. Y.

A. H. Soni, R. V. Dukkipati

School of Mechanical and Aerospace Engineering, Oklahoma State University, Stillwater, Okla.

J. Eng. Ind 95(3), 737-743 (Aug 01, 1973) (7 pages) doi:10.1115/1.3438218 History: Received July 06, 1972; Online July 15, 2010


Dimentberg’s approach of passive coupling is extended to develop necessary and sufficient conditions for the existence of five-link spatial mechanisms with helical, cylinder, revolute, and prism pairs. The developed conditions are examined to describe the geometry for the existence of 36 five-link spatial mechanisms with one and two passive constraints.

Copyright © 1973 by ASME
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