On the order and freedom of the curve of RPCCR linkages

Hong Sen Yan; Wen Hsiang Hsieh

On the order and freedom of the curve of RPCCR linkages

Hong Sen Yan, Wen Hsiang Hsieh

Department of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

The purpose of this paper is to investigate the property of the coupler curves generated by RPCCR linkages. First, the 3×3 matrix with dual elements is used to establish the loop closure equation, the displacement equations are derived, and all joints variables are expressed in terms of input and output variables. Then, the parametric equations of the coupler curve are found by the D-H matrix. Finally, homogeneous coordinate is introduced to those displacement equations, and the order and some critical properties of the coupler curve are investigated based on the theories of algebraic curve and analytical geometry of three dimensions. In addition, RPCCR and RRPCC linkages are used as examples for illustrations. Moreover, the results on the application of dimensional synthesis are discussed.

Original language	English
Pages (from-to)	369-378
Number of pages	10
Journal	Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao
Volume	19
Issue number	4
Publication status	Published - 1998 Aug

All Science Journal Classification (ASJC) codes

Mechanical Engineering

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