Planar ten-bar single degree of freedom linkages have 230 valid isomers, 53 of them are kinematically indeterminate, i.e. their complete sets of instant centers cannot be obtained simply from Kennedy Theorem. This paper investigates a graphical approach, i.e. virtual cam method, to help locate the key instant centers of these kinematically indeterminate linkages, after that all the instant centers can be located by Kennedy Theorem accordingly. The criteria of application are proposed and examined carefully, the results are verified against traditional Kennedy Theorem approach and CAD modeling.
The Virtual Cam Method Application and Verification on Locating Key Instant Centers of Ten-Bar 1-DOF Indeterminate Linkages
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Liu, Z, & Chang, Y. "The Virtual Cam Method Application and Verification on Locating Key Instant Centers of Ten-Bar 1-DOF Indeterminate Linkages." Proceedings of the ASME 2017 International Mechanical Engineering Congress and Exposition. Volume 4A: Dynamics, Vibration, and Control. Tampa, Florida, USA. November 3–9, 2017. V04AT05A014. ASME. https://doi.org/10.1115/IMECE2017-71104
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