A Displacement Analysis of Spatial Six-Link 4R-P-C Mechanisms—Part 1: Analysis of RCRPRR Mechanism

[+] Author and Article Information
J. Duffy, J. Rooney

Department of Mechanical, Marine, and Production Engineering, Liverpool Polytechnic, Liverpool, England

J. Eng. Ind 96(3), 705-712 (Aug 01, 1974) (8 pages) doi:10.1115/1.3438426 History: Received July 06, 1972; Online July 15, 2010


The input-output displacement equation is expressed as a degree eight polynomial in the half-tangent of the output angular displacement. A procedure for determining uniquely all the linkage variables verifies the closures and in addition explains the physical significance of the closures of equivalent five-link R5 spherical mechanisms. The equation can be used to generate input-output functions of spatial five-link RCCRR and RCRCR mechanisms. The results are illustrated by numerical examples.

Copyright © 1974 by ASME
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