The Clemens Coupling is a constant-velocity, universal-type joint for nonparallel intersecting shafts. This mechanism is a spatial linkage with five links connected by four revolute pairs, R, and one spherical pair (ball-and-socket joint), S, which is located symmetrically with respect to the input and output shafts. The Clemens Coupling is a special case of the R-R-S-R-R spatial linkage with general proportions, which will, therefore, be called the Generalized Clemens Coupling. This paper gives the algebraic derivation of the input-output equation for the general R-R-S-R-R linkage and demonstrates that it is a fourth-order polynomial in the half tangents of the crank angles. The effect of housing-error tolerances on the displacements of the Clemens Coupling has also been considered. The results demonstrate feasibility of closed-form solutions for five-link mechanisms with kinematic pairs having more than two degrees of freedom.
Displacement Analysis of the Generalized Clemens Coupling, The R-R-S-R-R Spatial Linkage
D. M. Wallace
Norwich University, Northfield, Vt.
Columbia University, New York, N. Y.
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Wallace, D. M., and Freudenstein, F. (May 1, 1975). "Displacement Analysis of the Generalized Clemens Coupling, The R-R-S-R-R Spatial Linkage." ASME. J. Eng. Ind. May 1975; 97(2): 575–580. https://doi.org/10.1115/1.3438622
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