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The Finite Screw System Associated With the Spatial RPRP Overconstrained Linkage

[+] Author Affiliations
Chintien Huang, Han-Tsung Tu

National Cheng Kung University, Tainan, Taiwan

Paper No. DETC2004-57326, pp. 859-865; 7 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


The spatial RPRP linkage is a closed-loop linkage composed of two revolute and two prismatic joints. It is an overconstrained linkage, which does not obey the Grübler criteria. This paper investigates the finite displacement of the RPRP linkage and shows that all possible finite displacement screws of the coupler link form a screw system of the second order. This paper explores two configurations of the RPRP linkages, folded and unfolded. The screw systems for both types of RPRP linkage are obtained by intersecting two 3-systems corresponding to the RP and PR dyads. A numerical example is provided to verify the result.

Copyright © 2004 by ASME
Topics: Screws , Linkages



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