Myard’s first fivebar linkage as a degeneracy of a planesymmetric sixbar loop

1、myards first five-bar linkage as a degeneracy of a plane-symmetric six-bar loopj. eddie bakerschool of information technologies, the university of sydney, nsw 2006, australiaabstractamong the best known of overconstrained kinematic loops, goldbergs generalised five-bar is also recognised as a parent

2、” linkage to myards first five-bar of 10 years earlier in appearance. somewhat oddly, despite both having been synthes-ised from bennett chains, the latter is plane-symmetric and the former essentially asymmetric in character. explored in this paper is the notion that myards linkage might be alterna

3、tively sought as a derivative of a plane-symmetric six-bar. whilst there is high expectation of success in this instance, the approach may offer broader application. as well, the analysis highlights technical features of significance to workers in the field of linkage kinematics.keywords: linkage ki

4、nematics; overconstrained linkages; linkage mobility; displacement-closure equations; screw-vector algebra; spatial linkages1. introductionnotwithstanding the many recorded solutions 13 of the six-revolute kinematic chain, for very few are there available minimal sets of displacementclosure relation

5、ships. this is so because, first, most cases with mobility one were revealed through intuition or synthesis rather than systematic means and, second, the general forms of governing equations are exceedingly difficult to manipulate into a definitive set of five independent ones. the situation is effe

6、ctively the same for the governing relationships of five-revolute chains. if myard 4 and goldberg 5 had not synthesised their offerings from bennett loops, there would possibly be no 5r linkages to discuss.the myard five- and six-bar loops are related analytically to goldbergs solutions in ref. 6, a

7、nd goldbergs five- and six-bar chains are accorded detailed attention in refs. 79. goldbergs (generalised) five-bar has remained the only known all-inclusive five-revolute linkage family. in searching for other cases, lee 10 obtains a set of necessary algebraic conditions which are to be satisfied,

8、but their complicated character makes analytical solutions very unlikely. karger 11 builds upon ref. 10 with the assistance of computer-software routines, distinguishing between the generic grouping with zero joint offsets, namely, goldbergs basic five-bar (but incorrectly regarded there as the tota

9、lity of goldbergs five-bar synthesis), and all others. he claims to have found exhaustive solution sets, but in such a convoluted fashion that their natures are hidden. the only example of a particular solution provided in ref. 11 can be shown, using dietmaiers 9 formulas, to be a very special insta

10、nce of goldbergs generalised five-bar in which the kink-angle” is 83.62. the diligent reader is alerted to an apparent typographical error there; the second d5 should be given instead as d2. ref. 9 includes a description of a numerical search procedure for five-revolute solutions outside goldbergs f

11、amily, dietmaier concluding that any are highly improbable.it is not uncommon to find published accounts, in various formats, of sets of conditions to be satisfied by the link parameters of potential solutions to a family of overconstrained linkages. in spite of the relatively well developed require

12、ments presented in refs. 10,11, it must be conceded that such criteria are of little assistance in disclosing the categories of solutions which must be recognised for an appreciation of their overall motion characteristics and our level of knowledge concerning the possibility of cases remaining to b

13、e identified. now, goldbergs five-bar family is essentially asymmetric. myard observes this fact in synthesising his second five-bar from two identical bennett loops, realising thereby a special case of goldbergs basic linkage. his first five-bar, a particular case of goldbergs generalised loop, imp

14、oses plane symmetry upon the latter in the only viable way, by virtue of the contributing bennett chains being rectangular” and the adjacent links of the composition having complementary skew angles. hence, there arises the question of a provenance for myards plane-symmetric solution other than the

15、device of synthesising it from a pair of four-bars.given the abovementioned difficulty of a systematic search, one is led to the conjecture that myards first five-bar is derivable from a mobile six-bar with one joint locked. testing this proposition calls for employment of the latters displacement-c

16、losure equations which, as already stated, are usually unknown. one available avenue is offered by waldrons 12 plane-symmetric r-2h-p-2h-loop proved mobile via screw-system algebra. on the basis of its established motion capability it is feasible to determine a minimal set of governing equations for

17、 its r-derivative. our objective, then, is to find under what conditions this latter linkage, whilst retaining its plane symmetry, will remain mobile when the prismatic joint is fixed. our notation for linkage elements is as exemplified in fig. 1, and use is made of the abbreviations c for cosine, s

18、 for sine, and t for tangent. the character x stands for 1. for the readers benefit, three of a general set of 12 six-bar displacement-closure relationships is reproduced in the appendix to this paper. although it is more usual in an investigation in this area to choose appropriate equations from a

19、standard grouping of nine equations of orientation and three of position, there is sometimes the valid alternative of employing fewer relationships from the set through the device of reversing the sense of traverse of a kinematic loop or that of using a different starting-point. we have the freedom

20、to do so here, whereby eqs. (a1)-(a3) are sufficient for our analysis.it is also convenient to invoke dual screw-vector terminology for (relative) motion about and along instantaneous screw axis (isa) $i, for which there must be specified an orientation i and a location ri in some frame of reference

21、, together with screw pitch hi. the corresponding unit dual vector is then defined by conversely, once provided with the unit vector, the pitch and orthogonal position of the isa are determinable from the equations. as well, the unit vector along the common normal directed from joint axisj to joint

22、axis i is denoted by ni/j. finally, we need to refer to the rate of rotation about joint axis i, indicating it by 2. waldrons loop the six-bar linkage in its most general form, as illustrated schematically in fig. 2, requires that the symmetrical pairs of helical articulations have pitches of equal

23、magnitude and opposite sign. as will become evident, we can restrict consideration to the special instance of zero-valued pitches. then the consequent 5r-p-loop is subject to the dimensional conditions equations arising directly from the plane symmetry are it is stressed that we are not engaged in a

24、 systematic reduction of the full complement of closure equations to a minimal set of five. because the linkages mobility is otherwise known 12, we simply select relationships appropriate to our purpose.under the foregoing constraints and the accompanying simplifications of eqs. (1,2), equation of o

25、rientation (a2) with indices advanced by 5 is reduced to similarly, equation of position (a3) with indices advanced by 2 becomes the latter relationship is seen to represent a resolution of linear displacements parallel to the prismatic joint. one more independent equation is needed to complete a se

26、t for the linkage. a suitable candidate is yielded from eq. (a2) when indices are advanced by 4, giving.3. the 5r degeneracywe seek a five-revolute linkage of the apposite form by fixing t6. the variable 92 can then be eliminated between eqs. (3) and (4) to yield a relationship in 91 alone, namely,f

27、l23s2a23s2f?1s2a61 + c2f?1s2a61c2a12 + c2a61s2a12 + 2cf?1sa61ca61sa12ca12= a23c01sa61sa12 co61ca12 c cx23 + s a232,2(c01sa61sa12 co61ca12) a12sf?1sa61 t1co61 t6/2 .now, we know from ref. 1 that there can be no proper solution for which sa23 = 0, and refs. 13,14 preclude any for which a23 = 0. this p

28、utative identity in 91 can be simplified toa23s2a23 c2a61c2a12 + 2cf?1sa61ca61sa12ca12 c2f?1s2a61s2a12= s2a23j,2(c01sa61sa12 - ca61ca12)2 + a22s291s2a61 + t1ca61 + t6/2)2 - 2t2a12s91sa61(c91sa61sa12- ca61ca12) - 2t2(t1ca61 + t6/2)(c91sa61sa12 - ca61ca12) + 2a12s01sa61(7,1ca61 + t6/2).(6)in examining

29、 the coefficient of s01c01, we may, by the findings of refs. 1,13,14, disallow the possibilities of sa12 and a12 being zero. if sa61 were zero, revolutes 5 and 1 would be coaxial, resulting in part-chain mobility. consequently, we infer that3. the 5r degeneracywe seek a five-revolute linkage of the

30、apposite form by fixing t6. the variable 92 can then be eliminated between eqs. (3) and (4) to yield a relationship in 91 alone, namely, now, we know from ref. 1 that there can be no proper solution for which sa23 = 0, and refs. 13,14 preclude any for which a23 = 0. this putative identity in 91 can

31、be simplified to in examining the coefficient of s01c01, we may, by the findings of refs. 1,13,14, disallow the possibilities of sa12 and a12 being zero. if sa61 were zero, revolutes 5 and 1 would be coaxial, resulting in part-chain mobility. consequently, we infer that from the coefficient of s#1 w

32、e conclude that from the remainder of eq. (6) we deduce the following requirements:if ca61 were zero, t6 would also vanish; the five-bar would degenerate further to a special (equilateral) bennett linkage with an additional, coaxial revolute. hence, we are led to the further constraints for our solu

33、tion given by as we are free to assume that 0 a61, we have hereby isolated the only proper degeneracy of the six-bar for which the slider is locked. it is clear that the screw joints of the most general form of the original loop cannot be accommodated, because offsets t1 and t2 have been found to be

34、 strictly constant in value. it remains to delineate the five-bar fully by re-defining the joint angles and offsets on $5 and $1; the link length between them, of course, is we are free to allow hen 95 may be retained for the five-bar. consequently, for the derived loop, the angular displacement on

35、$1 is given by.in order to investigate geometrical properties of the derived loop, we mount reference axes as depicted in fig. 3. then, after some manipulation, with the assistance of eqs. (7) and (8) we can re-express deployment of eq. (12) permits us to easily establish more significant here is a

36、consideration of groupings within the equation. with the aid of eqs. (7), (8), (12), (13) we find that the projections on the plane of symmetry of $4, $2 and $5, $1 intersect $3 at the pointthat is, the simplified screw system” 12 of the five-bar, regardless of the value of x, consists of a planar p

37、encil of zero-pitch screws.4. the solutionsfor a reason soon to be clear, let us reverse the sense of $5, indicating the consequently modified quantities by the symbol . gathering the dimensional constraints for the five-bar, we have an appropriate minimal set of closure equations is a comparison wi

38、th the relevant results stated in ref. 6 establishes an exact match, and so the present case is confirmed as myards first five-bar. thus, the approach introduced here is found to be effective, and perhaps applicable elsewhere as an alternative to a direct search for a mobile linkage of a certain for

39、m.the foregoing analysis shows, however, the necessity for great care in determining relationships among link parameters and joint variables in the conversion from six links to five. the same finding is yielded, but at greater length, when the initial loop is bricards plane-symmetric six-bar; for that chain a minimal set of closure equations has been derived in ref. 15. perhaps obvious, but significant nonetheless, is the observation that the six-bar which possesses or can manifest the special dimensional conditions of the myard