Title

Synthesizing Single DOF Linkages via Transition Linkage Identification

Document Type

Article

Publication Date

12-2007

Publication Source

Journal of Mechanical Design

Abstract

A linkage is partially classified by identifying those links capable of unceasing and drivable rotation and those that are not. In this paper, we examine several planar single degree-of-freedom linkages to identify all changes to the physical parameters that may alter this classification.

The limits on the physical parameters that result in no change in the classification are defined by transition linkages. More rigorously, a transition linkage possesses a configuration at which the matrix defined by the derivative of the loop closure equations with respect to the joint variables loses rank. Transition linkages divide the set of all linkages into different classifications. In the simplest cases studied, transition linkage identification produces a comprehensive classification scheme. In all cases, this identification is used to alter a linkage’s physical parameters without changing its classification and produces insight into the selection of these parameters to produce a desired classification.

Inclusive pages

022301-1 to 022301-8

ISBN/ISSN

1050-0472

Comments

Permission documentation is on file.

Publisher

American Society of Mechanical Engineers

Volume

130

Issue

2

Peer Reviewed

yes