Closed-form Grashof-type movability conditions are derived for closed-loop RSSR mechanisms using a geometrical approximation technique. The conditions that ensure the presence of crank-rocker and drag-link type mechanisms are derived with and without force transmission limitations. The force transmission limitations may be specified as a function of the output link angle. The accuracy of the approximated conditions is analyzed. As an example, the conditions are used to synthesize a function generating mechanism with fully rotatable crank and with various force transmission requirements. The developed technique is general, and can be applied to other similar spatial mechanisms. The application of this approach to geometrical synthesis of open-loop chain manipulators is discussed.
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March 1992
Research Papers
Approximated Grashof-Type Movability Conditions for RSSR Mechanisms With Force Transmission Limitations
J. Rastegar,
J. Rastegar
Department of Mechanical Engineering, State University of New York At Stony Brook, Stony Brook, NY 11794-2300
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Q. Tu
Q. Tu
Department of Mechanical Engineering, State University of New York At Stony Brook, Stony Brook, NY 11794-2300
Search for other works by this author on:
J. Rastegar
Department of Mechanical Engineering, State University of New York At Stony Brook, Stony Brook, NY 11794-2300
Q. Tu
Department of Mechanical Engineering, State University of New York At Stony Brook, Stony Brook, NY 11794-2300
J. Mech. Des. Mar 1992, 114(1): 74-81 (8 pages)
Published Online: March 1, 1992
Article history
Received:
March 1, 1990
Online:
June 2, 2008
Citation
Rastegar, J., and Tu, Q. (March 1, 1992). "Approximated Grashof-Type Movability Conditions for RSSR Mechanisms With Force Transmission Limitations." ASME. J. Mech. Des. March 1992; 114(1): 74–81. https://doi.org/10.1115/1.2916928
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