Singularity Traces of Single Degree-of-Freedom Planar Linkages that Include Prismatic and Revolute Joints
Journal of Mechanisms and Robotics
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.
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Copyright © 2016, American Society of Mechanical Engineers
American Society of Mechanical Engineers
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.