Using (3 × 3) matrices with dual elements, two loop Watt and Stephenson type six-link spatial mechanisms with one revolute and six cylinder pairs and single loop R-C-R-R-P-R, R-C-R-R-R-R six-link mechanisms are examined to obtain closed form displacement relationships between independent and dependent displacement parameters. Displacement analyses are performed to illustrate the use of these displacement relationships.
Closed Form Displacement Relationships of Single and Multi-Loop Six-Link Spatial Mechanisms
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Soni, A. H., Dukkipati, R. V., and Huang, M. (August 1, 1973). "Closed Form Displacement Relationships of Single and Multi-Loop Six-Link Spatial Mechanisms." ASME. J. Eng. Ind. August 1973; 95(3): 709–716. https://doi.org/10.1115/1.3438214
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