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

Author(s)

Saleh M. Almestiri, University of Dayton
Andrew P. Murray, University of DaytonFollow
David H. Myszka, University of DaytonFollow
Charles W. Wampler, General Motors

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.

Copyright

Copyright © 2016, American Society of Mechanical Engineers

Publisher

American Society of Mechanical Engineers

Volume

8

Issue

5

Peer Reviewed

yes

eCommons Citation

Almestiri, Saleh M.; Murray, Andrew P.; Myszka, David H.; and Wampler, Charles W., "Singularity Traces of Single Degree-of-Freedom Planar Linkages that Include Prismatic and Revolute Joints" (2016). Mechanical and Aerospace Engineering Faculty Publications. 166.
https://ecommons.udayton.edu/mee_fac_pub/166