Technical Briefs

Orientation Order Analysis of Spherical Four-Bar Mechanisms

[+] Author and Article Information
H. Tipparthi, P. Larochelle

 Department of Mechanical and Aerospace Engineering, Robotics and Spatial Systems Laboratory, Florida Institute of Technology, Melbourne, FL 32901-6975

J. Mechanisms Robotics 3(4), 044501 (Oct 04, 2011) (4 pages) doi:10.1115/1.4004898 History: Received January 04, 2011; Revised July 11, 2011; Published October 04, 2011; Online October 04, 2011

In this paper, we present a novel methodology for orientation order analysis of spherical RR dyads. The methodology is a spherical generalization of the recent works of Myszka, Murray, and Schmiedeler for assessing position order of planar RR dyads. The objective of the methodology is to determine if a prescribed fixed axis location for a spherical RR dyad will result in the dyad guiding a moving rigid-body through a set of finitely separated spherical orientations in the desired order (e.g., 1, 2, 3, 4, etc.). The planar propeller methodology of Myszka, Murray, and Schmiedeler is extended to yield a spherical hoop methodology. The result is a useful tool to determine if a given spherical RR dyad will guide a moving body through a set of prescribed orientations in the desired order. Finally, we demonstrate the utility of the hoop method for order analysis of spherical RR dyads in two case studies.

Copyright © 2011 by American Society of Mechanical Engineers
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Figure 1

Spherical four-bar mechanism

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Figure 2

The hoop, fixed axis G , rotation axis S , and the design sphere

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Figure 3

Five spherical orientations with the fixed axis G

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Figure 4

The hoop through fixed axis G and the rotation axis S12

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Figure 5

Five orientations with the fixed axis G

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Figure 6

The hoop on the design sphere



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