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Technical Briefs

A General Static Torque Constraint for Spatial Four-Bar Motion Generation With a Coupler Load

[+] Author and Article Information
Kevin Russell

Armament Engineering and Technology Center, U.S. Army Research Development and Engineering Center, Picatinny, NJ 07806kevin.russell1@us.army.mil

Qiong Shen

Power Control System Engineering, ASCO Power Technologies, Florham Park, NJ 07932john.shen@emerson.com

J. Mechanisms Robotics 2(4), 044502 (Sep 30, 2010) (6 pages) doi:10.1115/1.4002514 History: Received November 02, 2009; Revised August 22, 2010; Published September 30, 2010; Online September 30, 2010

A general static torque constraint for spatial four-bar mechanisms with coupler forces is formulated in this work. With this constraint, the user can synthesize spatial four-bar motion generators that also support static coupler loads. This constraint is demonstrated in the synthesis of RRSS, SSRC, and 4R spherical motion generators to approximate prescribed coupler poses and do so within maximum specified driver torques for given coupler forces.

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Copyright © 2010 by American Society of Mechanical Engineers
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Figures

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Figure 1

(a) RRSS, (b) RRSC, and (c) 4R spherical mechanisms with coupler load F and torque T

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Figure 2

Synthesized RRSS mechanism

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Figure 3

Scalar differences between prescribed and achieved coupler poses for synthesized RRSS mechanism

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Figure 4

Synthesized RRSC mechanism

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Figure 5

Scalar differences between prescribed and achieved coupler poses for synthesized RRSC mechanism

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Figure 6

Synthesized 4R spherical mechanism

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Figure 7

Scalar differences between prescribed and achieved coupler poses for synthesized 4R spherical mechanism

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