This paper presents a new technique for synthesizing RSSR-SS mechanisms to achieve phases of rigid body positions, velocities and accelerations using the same hardware. This work considers two-phase fixed pivot adjustment problems with fixed crank and follower lengths. By specifying the R-S link joint axes, the constant length condition becomes the only design constraint for these links. The prescribed finite and multiply separated positions are then incorporated in the link constraint equations with respect to the prescribed coordinate frame for each link and the RSSR-SS mechanism joint variables and driving link parameters are calculated.
Kinematic Synthesis of Adjustable RSSR-SS Mechanisms for Multi-Phase Finite and Multiply Separated Positions
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received August 2001; revised April 2003. Associate Editor: S. K. Agrawal.
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Russell , K., and Sodhi , R. S. (January 22, 2004). "Kinematic Synthesis of Adjustable RSSR-SS Mechanisms for Multi-Phase Finite and Multiply Separated Positions ." ASME. J. Mech. Des. December 2003; 125(4): 847–853. https://doi.org/10.1115/1.1631576
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