Displacement Analysis of the Generalized Clemens Coupling, The R-R-S-R-R Spatial Linkage

[+] Author and Article Information
D. M. Wallace

Norwich University, Northfield, Vt.

F. Freudenstein

Columbia University, New York, N. Y.

J. Eng. Ind 97(2), 575-580 (May 01, 1975) (6 pages) doi:10.1115/1.3438622 History: Received June 18, 1974; Online July 15, 2010


The Clemens Coupling is a constant-velocity, universal-type joint for nonparallel intersecting shafts. This mechanism is a spatial linkage with five links connected by four revolute pairs, R , and one spherical pair (ball-and-socket joint), S , which is located symmetrically with respect to the input and output shafts. The Clemens Coupling is a special case of the R-R-S-R-R spatial linkage with general proportions, which will, therefore, be called the Generalized Clemens Coupling. This paper gives the algebraic derivation of the input-output equation for the general R-R-S-R-R linkage and demonstrates that it is a fourth-order polynomial in the half tangents of the crank angles. The effect of housing-error tolerances on the displacements of the Clemens Coupling has also been considered. The results demonstrate feasibility of closed-form solutions for five-link mechanisms with kinematic pairs having more than two degrees of freedom.

Copyright © 1975 by ASME
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