Displacement Analysis of Spatial Seven-Link 5R-2P Mechanisms

[+] Author and Article Information
J. Duffy

Mechanical Engineering, Liverpool Polytechnic, Liverpool, England

J. Eng. Ind 99(3), 692-701 (Aug 01, 1977) (10 pages) doi:10.1115/1.3439300 History: Received June 21, 1976; Online July 15, 2010


Input-output displacement equations of eighth degree are derived for general spatial seven-link (RPPRRRR, RRRPPRR), (RPRRRPR, RPRRPRR), and (RPRPRRR) mechanisms. The results are verified by numerical examples. The solutions of these mechanisms constitute a significant advance in the theory of analysis of spatial mechanisms. They contain as special cases the solutions for spatial seven-link 4R-3P slider-crank mechanisms, the solutions for all five-link 3R-2C and six-link 4R-P-C mechanisms that have appeared in the literature, together with the solutions for a multitude of solved and unsolved mechanisms containing spherical, torus, and plane kinematic pairs.

Copyright © 1977 by ASME
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