A Displacement Analysis of Spatial Six-Link 4-R-P-C Mechanisms—Part 2: Derivation of Input-Output Displacement Equation for RCRRPR 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), 713-717 (Aug 01, 1974) (5 pages) doi:10.1115/1.3438427 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. The equation can be used to generate input-output functions of spatial five-link RCRCR and RCRRC mechanisms. The results are illustrated by numerical examples.

Copyright © 1974 by ASME
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