TY - JOUR
T1 - On the order and freedom of the curve of RPCCR linkages
AU - Yan, Hong Sen
AU - Hsieh, Wen Hsiang
N1 - Copyright:
Copyright 2004 Elsevier Science B.V., Amsterdam. All rights reserved.
PY - 1998/8
Y1 - 1998/8
N2 - 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.
AB - 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.
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M3 - Article
AN - SCOPUS:0032142488
VL - 19
SP - 369
EP - 378
JO - 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
JF - 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
SN - 0257-9731
IS - 4
ER -