A unified input-output analysis of four-bar linkages

被引：33

作者：

Bai, Shaoping ^{[1
]}

Angeles, Jorge ^{[2
]}

机构：

[1] Aalborg Univ, Dept Mech Engn, DK-9220 Aalborg, Denmark

[2] McGill Univ, Ctr Intelligent Machines, Dept Mech Engn, Montreal, PQ H3A 2K6, Canada

来源：

MECHANISM AND MACHINE THEORY | 2008年 / 43卷 / 02期

基金：

加拿大自然科学与工程研究理事会;

关键词：

dual numbers; four-bar linkages; the principle of transference; robust input-output analysis;

D O I：

10.1016/j.mechmachtheory.2007.01.002

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Proposed in this paper is a unified, robust algorithm for the input-output analysis of planar, spherical and spatial four-bar linkages. Robustness is needed to account for architecture and algebraic singularities that are likely to occur, for example, when conducting an iterative optimization of the linkage at hand. The unified feature of the algorithm is based on the algebra of dual numbers and the Principle of Transference, which allows the extension of the algorithm developed for spherical linkages to their spatial counterparts by a simple dualization of the real geometric relations derived for the former. Numerical examples are included to demonstrate the application of the algorithm. (c) 2007 Elsevier Ltd. All rights reserved.

引用

页码：240 / 251

页数：12

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