This paper presents the concept and application of input joint rotation space of linkages and offers updates on the -bar rotatability laws. A thorough discussion on the joint rotation space of single-loop planar five-bar linkages is first presented. The concept is then extended to spherical linkages and the generalization to -bar linkages is discussed. It offers a visualization tool for the input joint rotatability and fills up a void in the -bar rotatability laws regarding the coordination among multiple inputs. It explains the formation of branches and how to establish a one-to-one correspondence between the inputs and the linkage configurations. The applications to multiloop linkages and spatial linkages are highlighted with Stephenson six-bar linkages, geared linkages, and spatial RCRCR mechanisms. These examples exhibit simplicity and benefits of the proposed concept to the mobility analysis of diversified mechanisms. The concept of virtual loop in spatial linkages is proposed and demonstrated with simple RCRCR and Stephenson six-bar mechanisms.
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September 2008
Research Papers
On the Input Joint Rotation Space and Mobility of Linkages
Kwun-Lon Ting
Kwun-Lon Ting
Professor
Fellow ASME
Center for Manufacturing Research,
e-mail: kting@tntech.edu
Tennessee Technological University
, Cookeville, TN 38505
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Kwun-Lon Ting
Professor
Fellow ASME
Center for Manufacturing Research,
Tennessee Technological University
, Cookeville, TN 38505e-mail: kting@tntech.edu
J. Mech. Des. Sep 2008, 130(9): 092303 (12 pages)
Published Online: August 11, 2008
Article history
Received:
August 28, 2007
Revised:
March 7, 2008
Published:
August 11, 2008
Citation
Ting, K. (August 11, 2008). "On the Input Joint Rotation Space and Mobility of Linkages." ASME. J. Mech. Des. September 2008; 130(9): 092303. https://doi.org/10.1115/1.2943299
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