Title

Singularity Traces of Single Degree-of-Freedom Planar Linkages that Include Prismatic and Revolute Joints

Document Type

Article

Publication Date

5-2016

Publication Source

Journal of Mechanisms and Robotics

Abstract

This paper extends the general method to construct a singularity trace for single degree-of-freedom (DOF), closed-loop linkages to include prismatic along with revolute joints. The singularity trace has been introduced in the literature as a plot that reveals the gross motion characteristics of a linkage relative to a designated input joint and a design parameter. The motion characteristics identified on the plot include a number of possible geometric inversions (GIs), circuits, and singularities at any given value for the input link and the design parameter. An inverted slider–crank and an Assur IV/3 linkage are utilized to illustrate the adaptation of the general method to include prismatic joints.

Inclusive pages

051003-1 to 051003-3

ISBN/ISSN

1942-4302

Comments

Permission documentation is on file.

Publisher

American Society of Mechanical Engineers

Volume

8

Issue

5

Peer Reviewed

yes