Singularities in Motion and Displacement Functions for the RCRCR, RCRRC and RSRC Linkages: Part IV — The RSRC Linkage
- 27 September 1987
- conference paper
- Published by ASME International
- p. 291-297
- https://doi.org/10.1115/detc1987-0092
Abstract
The basic ideas of this paper are based on the following considerations (see Litvin, et al., 1986, and Part I of this paper): (i) Singularities in motion occur at positions where the overconstrained group that is formed by links 2 and 3 becomes movable with respect to links 1 and 4 while the driving link 1 is held at rest (link 4 is the frame). (ii) The displacement functions are determined by modeling the linkage by two open kinematic chains. Configurations of the linkage are discussed. Numerical examples are given.Keywords
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