Displacement Analysis of Spatial Six-Link, 5R-C Mechanisms

[+] Author and Article Information
J. Duffy, J. Rooney

Liverpool Polytechnic, Liverpool, England

J. Appl. Mech 41(3), 759-766 (Sep 01, 1974) (8 pages) doi:10.1115/1.3423384 History: Received May 01, 1973; Revised September 01, 1973; Online July 12, 2010


Input-output displacement equations of degree 16 are derived for spatial six-link RRRRCR and RRCRRR2 mechanisms. The derivation of these equations provides the solution to one of the most formidable problems in the theory of analysis of spatial mechanisms. The subsequent displacement analysis is derived by extending Bézout’s reduction (1764) of the degree of a pair of equations in a single unknown, to equations with two unknowns. Numerical results were verified using a physical model. The input-output equations contain as special cases eighth-degree polynomials for spatial six-link 4R-P-C slider-crank mechanisms.

Copyright © 1974 by ASME
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