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Three-Position Synthesis of Spherically Constrained Planar 3R Chains

[+] Author Affiliations
Kassim Abdul-Sater, Franz Irlinger, Tim C. Lueth

Technische Universität München, Garching, Germany

Paper No. DETC2015-47365, pp. V05CT08A045; 8 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5C: 39th Mechanisms and Robotics Conference
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5714-4
  • Copyright © 2015 by ASME


This paper presents a dimensional finite position synthesis procedure for a 8-bar linkage, that we call the spherically constrained planar 3R chain. The procedure aims at using the well-developed constraint-based synthesis equations of spherical RR chains in order to constrain a planar serial 3R guiding chain, synthesized before for a maximum number of three task poses. This maximum number of task positions results from the specific linkage topology, which requires to select specific axes of spherical RR chains. However, three-position synthesis allows it to apply a specific version of the dyad triangle equation of planar RR chains to the problem. A particular assumption forces that this version of the dyad triangle equation becomes nothing but the synthesis equation of a planar 3R chain, which is easily solved for the three prescribed task poses. An example is provided showing a synthesized spherically constrained planar 3R chain reaching three prescribed planar poses.

Copyright © 2015 by ASME
Topics: Chain



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