Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

Sign In to gain access to subscriptions and/or personal tools.
The International Journal of Robotics Research
This Article
Right arrow Full Text (PDF)
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrowRequest Permissions
Right arrow Request Reprints
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via Google Scholar
Right arrow Citing Articles via Scopus
Google Scholar
Right arrow Articles by Wu, Y.
Right arrow Articles by Gosselin, C. M.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Complore   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati   Add to Twitter  
What's this?

Synthesis of Reactionless Spatial 3-DoF and 6-DoF Mechanisms without Separate Counter-Rotations

Yangnian Wu

Département de Génie Mécanique, Université Laval, Québec, Québec, Canada, G1K 7P4, wu{at}gmc.ulaval.ca

Clément M. Gosselin

Département de Génie Mécanique, Université Laval, Québec, Québec, Canada, G1K 7P4, gosselin{at}gmc.ulaval.ca

In this paper we present the synthesis of novel reactionless spatial three-degrees-of-freedom (3-DoF) and 6-DoF mechanisms without any separate counter-rotation, using four-bar linkages. Based on the conditions of dynamic balancing of a single planar four-bar linkage developed elsewhere, the spatial problem is shown to be equivalent to ensuring that the inertia tensor of reactionless four-bar linkage(s), which is(are) attached on the moving link of a reactionless four-bar linkage, remains constant while moving. The reactionless conditions for planar four-bar linkages undergoing spatial motion are first given. Then, reactionless spatial 3-DoF mechanisms using four-bar linkages are synthesized. A numerical example of the reactionless spatial 3-DoF mechanism is given and, with the help of the dynamic simulation software ADAMS, it is shown that the mechanism is reactionless for arbitrary trajectories. Finally, this mechanism is used to synthesize reactionless 6-DoF parallel mechanisms.

Key Words: reactionless • dynamic balancing • four-bar linkages • spatial mechanisms • counter-rotations • parallel mechanisms • parallel manipulators

The International Journal of Robotics Research, Vol. 23, No. 6, 625-642 (2004)
DOI: 10.1177/0278364904044400
Add to CiteULike CiteULike   Add to Complore Complore   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati   Add to Twitter Twitter    What's this?