Research Papers

Relative Acceleration in Spatial Mechanisms

[+] Author and Article Information
Ian S. Fischer

 Mechanical Engineering New Jersey Institute of Technology, Newark, NJ 07102

J. Mechanisms Robotics 4(1), 011005 (Apr 04, 2012) (5 pages) doi:10.1115/1.4005570 History: Received January 20, 2011; Revised November 10, 2011; Published February 02, 2012; Online April 04, 2012

A scheme applicable to automatic computation of the joint relative accelerations, the derivatives of joint speeds with respect to time, has been developed in the dual-number representation of the kinematics of spatial mechanisms. The equations which have been developed can be set up automatically by computer for any closed-loop mechanism of binary links. While the RCCC mechanism is given as an example, the scheme can be adapted for mechanisms with prismatic as well as revolute and cylindrical joints and can be readily further developed to consider other types of joints.

Copyright © 2012 by American Society of Mechanical Engineers
Topics: Mechanisms
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Figure 1

Link n with simple joints in equilibrium

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Figure 2

Generalized schematic of RCCC mechanism

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Figure 3

Relative angular accelerations θ··n in the RCCC mechanism

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Figure 4

Relative linear accelerations s··n in the RCCC mechanism



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