Cognates and Spherical Hinge Replacement of Spatial RSSR Mechanism
This paper resolves spatial RSSR mechanism in D-H coordinates to obtain its position equations. By extending Roberts-Chebyschev Theorem, it is demonstrated mathematically that RSSR mechanism possesses the same character as planer four-bar linkages in generating cognates. Considering strict requirements of spherical hinges in manufacture and assembly, this paper then addresses substitution methods of spherical hinge in RSSR mechanism, including constraining DOF of spherical pair by specific structural dimensions and replacing high pair by combinations of low pairs, while taking examples of sphere 4R mechanism, spatial orthogonal crank-rocker mechanism and spatial 6R mechanism in dobby machine. Physical kinematic simulation is done in the environment of MSC.ADAMS to validate the feasibility of spherical hinge replacement, providing guidance and reference to future design of complex spatial mechanisms.
Shengyi Li, Yingchun Liu, Rongbo Zhu, Hongguang Li, Wensi Ding
N. Z. Lu et al., "Cognates and Spherical Hinge Replacement of Spatial RSSR Mechanism", Applied Mechanics and Materials, Vols. 34-35, pp. 1822-1828, 2010