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Selecting Joint Locations in a Watt II Six-Bar With Sliding Output to Ensure a Cranking Input

[+] Author Affiliations
Lauren S. Perry

Ethicon Endo-Surgery, Cincinnati, OH

Andrew P. Murray

University of Dayton, Dayton, OH

Paper No. DETC2004-57362, pp. 915-922; 8 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


One method for generating a Watt II six-bar with a sliding output is to identify the location of its six revolute (R) joints. The location of the output prismatic (P) joint does not need to be identified as it can be assumed to allow vertical motion through the final R joint. If classified, like the 4R, based on the range of motion of each link as cranking or rocking, a number of possibilities exist classifying the four moving links connecting the six R joints. In this paper, we introduce a methodology for ensuring that the link connecting the first two R joints is a crank. As there are four more locations to specify, each location needs to be selected in light of the locations of the previous R joints. To accomplish this goal, we identify the Watt II six-bar transition linkages on the boundary between classifications.

Copyright © 2004 by ASME
Topics: Motion , Linkages



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