Suppose you are considering an RSSR spatial linkage for a particular application. The tentative…

Suppose you are considering an RSSR spatial linkage for a
particular application. The tentative design consists of a 24-mm drive crank, a
230-mm coupler, and a 140-mm driven crank. The drive crank and driven crank
rotate in perpendicular planes. Fixed link components are and The drive crank
rotates counterclockwise at a constant speed of 880 rpm. Find the link
positions in terms of the drive crank position. Use matrix methods to find the
angular velocities and accelerations. Plot the driven crank position, angular
velocity, and angular acceleration against the drive crank position. Express
»

Suppose you are considering an RSSR spatial linkage for a
particular application. The tentative design consists of a 24-mm drive crank, a
230-mm coupler, and a 140-mm driven crank. The drive crank and driven crank
rotate in perpendicular planes. Fixed link components are and The drive crank
rotates counterclockwise at a constant speed of 880 rpm. Find the link
positions in terms of the drive crank position. Use matrix methods to find the
angular velocities and accelerations. Plot the driven crank position, angular
velocity, and angular acceleration against the drive crank position. Express
links, angular velocities, and angular accelerations as vectors. Is the vector
link closure equation satisfied? You may evaluate this and other tests for one
arbitrary position, say Have you set the coupler angular velocity
about the coupler axis equal to zero? Does the dot product of the two vectors
satisfy this condition? Have you set the coupler angular acceleration about the
coupler axis equal to zero? Does the dot product of the two vectors satisfy
this condition as well? Form the basic vector acceleration equation in
cross-product form. Is the equation satisfied? Find the angular velocity and
angular acceleration of the driven crank by numerical differentiation. If your
software has a numerical differentiation capability, plot the results along
with the results from matrix analysis. Otherwise, check for one position. Among
your design decisions, select an RSSR spatial linkage similar to the one in
this chapter. The drive crank will rotate in the xy-plane and the driven crank
in the yz-plane.

»

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