Abstract
In the design of non-uniform motion mechanisms with pairs of multiple degrees of freedom, the influence of components of motion upon the allocation of degree of freedom of pairs is one of the important problems which must be solved for improvement of the output precision of mechanisms. In this paper, similarly to spatial mechanisms which are constructed with multiple closed circuits, a systematic synthesis of spatial mechanisms is carried out with consideration of general constraints of mechanisms. Namely, constraint conditions required to construct the pair in mechnisms with multiple closed circuits are formulated. Moreover, Structures of mechanisms with multiple closed circuits are represented accurately with incidence matrices whose components are the degrees of freedom of each pair, to obtain optimum allocation of degree of freedom of pairs. Based on the above analytical results, a systematic system for the spatial mechanism is proposed which determines the optimum allocation of degree of freedom of pairs. Finally, the spatial six-link mechanism which satisfies requirements of the above-mentioned conditions is synthesized to verity the method.
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