文档介绍：Available online at hanism
and
Machine Theory
Mechanism and Machine Theory 43 (2008) 285–296
ate/mechmt
Synthesis of an 8S5R mechanism in four-point rigid
body guidance problem using Maple
Kourosh H. Shirazi *
Mechanical Engineering Department, Faculty of Engineering, Chamran University of Ahvaz, Ahvaz, Iran
Received 26 February 2006; accepted 9 April 2007
Available online 13 June 2007
Abstract
In this paper, an accurate and graphical based method for synthesis of a nine-bar 8S5R mechanisms as a possible solu-
tion for four-point spatial rigid body guidance is presented. In the problem we are looking for a mechanism locating a rigid
body in four specified postures in a 3D workspace. The posture includes position and orientation of a body. The degree of
freedom of the mechanism is one, so by just one rotational or translational driving member, the desired motion can be
generated. The method is based on the synthesis and design of two linkages; a six-bar 8S linkage and a spherical four-link
4R linkage. Coupler of the former is the desired body which should be navigated on the four desired postures and a coupler
point of the latter, provides suitable movement for the input link of the former. The two linkages are connected using a
revolute joint. Therefore, they form a nine-bar 8S5R mechanism. Since the graphical construction cannot be implemented
in 3D design procedures by the conventional drawings, the symbolic mathematical software Maple-V is used to visualize
the 3D concepts of the problem as well as plishing the accurate putations in the modeling. -
pleteness and simplicity, through the whole of the paper the mands of Maple are described. The mechanism
can be used in the wide variety of motion generation problem in three-dimensional workspaces.
Ó 2007 Elsevier Ltd. All rights reserved.
Keywords: Four points of accuracy; Spatial motion generation; Spherical four-bar linkage; Parallel linkage; Graphical synthesis of
mechanism; Map