Curtin University Homepage
  • Library
  • Help
    • Admin

    espace - Curtin’s institutional repository

    JavaScript is disabled for your browser. Some features of this site may not work without it.
    View Item 
    • espace Home
    • espace
    • Curtin Research Publications
    • View Item
    • espace Home
    • espace
    • Curtin Research Publications
    • View Item

    Axis Constraint Analysis and Its Resultant 6R Double-Centered Overconstrained Mechanisms

    Access Status
    Fulltext not available
    Authors
    Cui, Lei
    Dai, J.
    Date
    2011
    Type
    Journal Article
    
    Metadata
    Show full item record
    Citation
    Cui, Lei and Dai, Jian S. 2011. Axis Constraint Analysis and Its Resultant 6R Double-Centered Overconstrained Mechanisms. ASME Journal of Mechanisms and Robotics. 3 (3): pp. 031004_1-031004_9.
    Source Title
    ASME Journal of Mechanisms and Robotics
    DOI
    10.1115/1.4004225
    ISSN
    1942-4302
    URI
    http://hdl.handle.net/20.500.11937/41144
    Collection
    • Curtin Research Publications
    Abstract

    This paper investigates the 6R overconstrained mechanisms by looking at an arrangement that axes intersect at two centers with arbitrary intersection-angles. From the close-loop matrix equation of the mechanism, the paper develops a set of geometric constraint equations of the 6R double-centered overconstrained mechanisms. This leads to the axis constraint equation after applying the Sylvester’s dialytic elimination method. The equation reveals the geometric constraint of link and axis parameters and identifies three categories of the 6R double-centered overconstrained mechanisms with arbitrary axis intersection-angles. The first two categories present two 6R double-centered overconstrained mechanisms and a 6R spherical mechanism. The last category evolves into the 6R double-spherical overconstrained mechanism with arbitrary axis intersection-angles at each spherical center. This further evolves into Baker’s double-Hooke mechanism and his derivative double-spherical mechanism with orthogonal axis intersection. The paper further develops the joint-space solution of the 6R double-centered overconstrained mechanisms based on the geometric constraint equation and verifies the result with a numerical example.

    Related items

    Showing items related by title, author, creator and subject.

    • The Axis Constraint Equation and a General 6R Double-Spherical Overconstrained Mechanism
      Cui, Lei; Dai, J. (2009)
      This paper investigates a 6R double-spherical overconstrained mechanism with a general arrangement and proves the axis constraint equation in this general type mechanism. The equation is derived with a relaxation of four ...
    • Combined influence of mirror thermal deformation and blowing on beam prapagation
      Liu, Jian; Li, S.; Zhao, J.; Wang, S. (2014)
      On the basis of thermal elastic mechanic equations, N-S equations and scalar wave equation, the thermal deformation of a reflector in a laser system caused by absorbing beam's energy and its effect on beam propagation ...
    • Effect of micro-inhomogeneity on the effective stress coefficients and undrained bulk modulus of a poroelastic medium: A double spherical shell model
      Glubokovskikh, Stanislav; Gurevich, Boris (2015)
      Although most rocks are complex multi-mineralic aggregates, quantitative interpretation workflows usually ignore this complexity and employ Gassmann equation and effective stress laws that assume a micro-homogeneous ...
    Advanced search

    Browse

    Communities & CollectionsIssue DateAuthorTitleSubjectDocument TypeThis CollectionIssue DateAuthorTitleSubjectDocument Type

    My Account

    Admin

    Statistics

    Most Popular ItemsStatistics by CountryMost Popular Authors

    Follow Curtin

    • 
    • 
    • 
    • 
    • 

    CRICOS Provider Code: 00301JABN: 99 143 842 569TEQSA: PRV12158

    Copyright | Disclaimer | Privacy statement | Accessibility

    Curtin would like to pay respect to the Aboriginal and Torres Strait Islander members of our community by acknowledging the traditional owners of the land on which the Perth campus is located, the Whadjuk people of the Nyungar Nation; and on our Kalgoorlie campus, the Wongutha people of the North-Eastern Goldfields.