RESEARCH PAPERS: Mechanisms Papers

Closed-Form Displacement Relations of a Five-Link R-R-C-C-R Spatial Mechanism

[+] Author and Article Information
A. H. Soni, P. R. Pamidi

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

J. Eng. Ind 93(1), 221-226 (Feb 01, 1971) (6 pages) doi:10.1115/1.3427879 History: Received July 27, 1970; Online July 15, 2010


Using (3 × 3) matrices with dual-number elements, closed form displacement relationships are derived for a spatial five-link R-R-C-C-R mechanism. The input-output closed form displacement relationship is an eighth degree polynomial equation. A numerical example is presented.

Copyright © 1971 by ASME
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